ROS-Industrial Kuka LBR-iiwa community meeting

ROS-Industrial Focused Community
Meeting: Kuka LBR iiwa
March 5, 2015
Clay Flannigan
Shaun Edwards

Objective
• Share information between groups in the hope
that collaborative relationships are formed
• Introduce developer groups in the hopes of
consolidating open source efforts
• Provide industry background on the current state
Kuka and ROS-I software
• Allow industry to share the wants/needs in the
hopes of driving research and development

Agenda
• 9:00 – 9:10 – Introduction
• 9:10 – 9:35 – Kuka LBR iiwa summary – Michael
Gerstenberger
• 9:35 – 10:15 – Developer Lightning Talks (10 minutes –
max)
– Fred Proctor, Jeremy Marvel, and Rick Candell
– Lars Tingelstad
– Pablo Quilez
– Carlos Rosales
– Risto Kojcev
• 10:15 – 10:30 – Open Discussion

ROS-Industrial
• ROS-Industrial is an open-
source project that extends
the advanced capabilities of
ROS software to
manufacturing
• Goal is to enable new and
exciting applications in
robotics
• More info:
http://rosindustrial.org
• Eye candy:
http://wiki.ros.org/Industria
l/video

Kuka LBR iiwa
• The Kuka LBR iiwa is an
– exciting innovation in
collaborative industrial
robotics
– enable automation in
many new application
areas

KUKA Lightweight Robot Interfaces
Michael Gerstenberger
5-Mar-2015

www.kuka-robotics.com
KUKA LBR interfaces
KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 9
Contents
 LWR 4+
 Controller description
 Programming
 Fieldbuses
 Ethernet interfaces
 FRI
 LBR iiwa
 Controller description
 Programming
 Fieldbuses
 Software interfaces
 Ethernet interfaces

KUKA LBR interfaces
 KR C2 lr controller
 Based on KR C2 robot controller hardware
 SERCOS interface to drives located in the arm
 Software is based on KSS (KUKA System Software): v5.6 lr
 KCP2 teach pendant
 Real-time Ethernet interface optional
LWR 4+ Controller Description

KUKA LBR interfaces
 KRL (KUKA Robot Language)
 High level programming language with built-in motion and I/O constructs
 Two interpreters: Robot and “Submit” (background)
 Additional features via system variables / data structures
 Additional features via motion driver commands
 Limited expandability: KUKA Tech Packages (TPs)
 RSI (RobotSensorInterface): Real-time sensor control
LWR 4+ Programming

KUKA LBR interfaces
 DeviceNet standard
 Profibus optional
 Fieldbus bridges possible
LWR 4+ Fieldbuses

KUKA LBR interfaces
 Access to Windows XP networking features
 Ethernet KRL XML (EKX)
 RSI Ethernet object
 FRI (Fast Research Interface)
LWR 4+ Ethernet Interfaces

KUKA LBR interfaces
 Ethernet UDP hard real-time interface to controller
 Direct access to motion system
 Update rate 1ms to 100ms
 Monitor mode
 Position (command/actual; joint/Cartesian)
 Cartesian force/torque / joint torque
 Numerical Jacobian, inertia matrix
 Control mode
 Command joint angles or Cartesian positions
 Command additional joint torque or
additional Cartesian force / torque
 Change impedance parameters
 Good communication quality essential
 C++ example code provided
LWR 4+ FRI

KUKA LBR interfaces
 Sunrise controller
 Based on KR C4 robot controller hardware
 EtherCAT interface to drives located in the arm
 Software is completely rewritten: Sunrise.OS
 SmartPad teach pendant
LBR iiwa Controller Description

KUKA LBR interfaces
 Sunrise.Workbench on customer computer
 Based on Eclipse IDE
 Sunrise.OS installation, configuration, application development platform
 Java programming with KUKA Robotics API
 Standard java libraries available
 Multithreading supported
 Background tasks supported
 Sunrise.Connectivity option
LBR iiwa Programming

KUKA LBR interfaces
 EtherCAT standard
 Profinet / Profisafe optional
 Fieldbus bridges possible
LBR iiwa Fieldbuses

KUKA LBR interfaces
 Standard java libraries
 Sunrise.Connectivity
 SmartServo: filtered access to servo layer (update rate > 20ms)
 DirectServo: unfiltered access to servo layer (update rate 2 – 19ms)
 CodeBridge: Add user C++ code to controller
 VREP support
 Fast Robot Interface
LBR iiwa Software Interfaces

KUKA LBR interfaces
 Access to Windows 7 networking features
 Java Ethernet communication classes
 Fast Robot Interface
LBR iiwa Ethernet interfaces

KUKA LBR interfaces
 Ethernet UDP hard real-time interface to controller
 Direct access to motion system
 FRI.Monitoring (1 – 100ms)
 Joint position (commanded/actual)
 Joint torque (commanded/actual)
 Future: Cartesian force/torque
 FRI.Motion Overlay (1 – 4ms)
 Command joint angle adjustments
 Future: Command Cartesian adjustments
 Future: Command additional joint torque
(only for research customers)
 FRI.C++ SDK
LBR iiwa Fast Robot Interface

KUKA LBR interfaces
Hose assembly:
https://www.youtube.com/watch?v=7GdiN6KmGCc
Tending a friction weld machine:
https://www.youtube.com/watch?v=90sS-sxEZm8
Kitchen assistant:
https://www.youtube.com/watch?v=mdKR7I37-Sg
Assembly of imprecisely positioned parts:
https://www.youtube.com/watch?v=jqFBu4Skj7s
Virtual wall / surgeon assistant:
https://www.youtube.com/watch?v=0bJwmCqHDhk
Automate 2014 Applications

KUKA LBR interfaces
KUKA Lightweight Robot Interfaces
 Any questions?

Fred Proctor, Jeremy Marvel, and Rick Candell
National Institute of Standards and Technology (NIST)
March 5, 2015

Introduction/Background
• Robotic Systems for Smart Manufacturing Program
– To develop and deploy advances in measurement science that
enhance U. S. innovation and industrial competitiveness by
improving robotic system performance, collaboration, agility,
and ease of integration into the enterprise to achieve dynamic
production for assembly-centric manufacturing
– Projects: Performance assessment; Agility for quick robot re-
tasking, Human-robot collaboration including small
manufacturers, interoperability
• Outputs
– IEEE standards for information representation, ISO standard for
industrial collaborative robot safety, ANSI standards for robot
safety, ASTM performance test methods

Current KUKA Development
• Collaborative Robotics Testbed
– KUKA LWR 4+ (KUKA KRC2 controller w/ FRI option)
– Core technologies:
• Inter-platform coordination and performance
metrology
• Robot dexterity metrics and test methods
• Mobile manipulator safety standards and
performance metrics
• Multi-robot assembly strategies, test methods,
and artifacts
– Future development plans:
• HRI for robot application diagnostics and
prognostics
• Integrated arm-hand impedance control w/
Schunk SDH

• YouBots for Cybersecurity
Research
• ROS Hydro
• Collaborative Action
– Three computers
– Data-driven
commands/dependencies
• Limitations
– Current hardware control
– Need software-based
velocity/torque controller
– Need an action server for
implementation of commands
• We will measure the
performance of robots with
cybersecurity controls
https://github.com/usnistgov/youbot
• Would like to measure
performance of networked
software control

Contact Info.
29
Fred “ROS” Proctor
Phone: 301-975-3425
Email: frederick.proctor@nist.gov
Jeremy “LBR” Marvel
Phone: 301-975-4592
Email: jeremy.marvel@nist.gov
Rick “YouBot” Candell
Phone: 301-975-4287
Email: rick.candell@nist.gov
http://www.nist.gov/el

Norwegian of University of
Science and Technology

Lars Tingelstad
Department of Production and Quality Engineering
Norwegian of University of Science and Technology
Trondheim, Norway

Introduction
• Lars Tingelstad
– MSc in Mechanical Engineering
– PhD Candidate Jan. 2012 – present.
– Project: Robotic Assembly of Aircraft Engine Components

• KUKA robots in the lab (installed 2014):
– 2 KUKA KR120 R2500 PRO (Quantec)
– KUKA KR16-2
– KUKA KR5 Arc
– 2 KUKA KR6 R900 sixx (Agilus)
• Applications: Manufacturing, typically assembly and welding automation
in the aerospace, automotive, subsea and offshore industry.
• Core technology:
– KUKA RSI driver (ROS Control Hardware Interface)
– Support and MoveIt! Packages
• Open sourced in the kuka_experimental package
– RSI Driver PR: https://github.com/ros-industrial/kuka_experimental/pull/13
• Timeline: RSI driver rigorously tested and merged before summer this
year.
• Future plans: Gazebo integration

Contact Info.
35
Lars Tingelstad
PhD Candidate
Department of Production and
Quality Engineering,
Norwegian University of
Science and Technology
Phone: +47 977 36 854
Email: lars.tingelstad@ntnu.no
http://www.ntnu.edu/employe
es/lars.tingelstad

Fraunhofer IPA 325 driver
Pablo Quilez

Background
• Human-Machine collaboration in rivet operation example
• Communication between hardware components and robot
• Skill-based easy programming interface
• Rapid development required

Current development
• Overview: Monolithic ROS C++ node which communicates through TCP/IP stream socket with
the Java driver installed in the controller:
• IIWA has different control modes:
– Normal: moves cannot be cancel without stopping, low Hz -> insufficient for reactive operations
– Impedance (spring): can be combined with another control mode.
– Connectivity Package smart and direct: approx. 50 and 100 Hz
• Smart accepts PTP and LIN moves in the whole work space, also joints
• Direct is suitable for reactive operations, but target point must be very near (approx. degree range) otherwise it produces error
• Current ROS architecture:
Line commands are sent and received line by line:
->: get joint position
<-: 0.0 0.235 0.0 1.2425 0.73 -0.532 0.01
->: direct joint move : 0.0 0.235 0.0 1.2425 0.73 -0.532 0.01 0.8
0.8 0.8 0.8 0.8 0.8 0.8
<-: done

Current development
• 2 Kuka IIWA R800 (old and new) with Sunrise 1.1 and Sunrise 1.5 + Connectivity package
• ROS Interface for:
– Publish joints, frames, force and torque (Cartesian and joint) following ROS-Industrial conventions
– Motion controlling through self-defined ROS-Action
• PTP and LIN with Cartesian coordinates (always TF based)
• PTP and LIN with Cartesian coordinates and redundancy parameter
• PTP and LIN with Cartesian coordinates and force condition to stop (collision information returned)
• PTP and LIN with Cartesian coordinates and impedance mode controlling (Spring-like N * m). Robot tries to
arrive to a position and returns if it succeeded after a defined time.
• PTP with joint coordinates
• PTP with joint coordinates in smart and direct mode
– Motion controlling through ROS-Industrial topics and Move-IT action
• joint_path_command (trajectory_msgs/JointTrajectory)
• joint_command (trajectory_smgs/JointTrajectoryPoint) -> velocity is unknown for only one point
• Concept problem with velocity (path doesn‘t suit good with reactive operations):

Future development
• Divide this monolithic application in small interconnected
ROS nodes to increase compatibility, reusability and
extensibility
• Continue development for our rivet operation use case
• Publish an open source version soon

Contact Info.
42
Pablo Quilez Velilla
Computer Engineer
Fraunhofer IPA
Phone: +49 (0)711 / 970 – 1304
Email: pablo.quilez.velilla@ipa.fhg.de

KUKA LWR 4+ ROS PACKAGES
Designed to work on real and simulation

What application need are you addressing?
Grasping under uncertainty, trajectory optimization and
planning-in-the-loop control for a compliant behavior.
What core technology are you developing?
Soft robots and low-cost sensorization.
What is your development timeline?
We refer to the issues and milestones on github.
- issues: https://github.com/CentroEPiaggio/kuka-lwr/issues
- milestones: https://github.com/CentroEPiaggio/kuka-
lwr/milestones
KUKA LWR 4+ Development (1/2)

KUKA LWR 4+ Development (2/2)
What is your plan for future development?
Three main points are important to be added:
- Stiffness trajectory control.
- Force/Position control for pHRI.
- Improve the simulation model concerning:
1) Precise dynamic model (model identification)
2) Improve HWsim (joint stiffness control strategy)
Is your software open sourced? Where?
Of course !
github.com/CentroEPiaggio/kuka-lwr

Contact Info
47
Carlos Rosales
Post-doc fellow
Research Center “E. Piaggio”
(speaker)
Developer team
@carlosjoserg @manuelbonilla @enricocorvaglia
Contributors
@marcoesposito1988 @ahoarau
Related projects and funding
Powered by
4 June 2013

Italian Institute of Technology

Ultrasound Visual Servoing for
Medical Applications- Risto Kojcev
March 2015

Self Introduction
•Double Engineering Degree
–Computer Science
–Electrical Engineering
•Master Studies in Biomedical Computing at TUM
•Working experience
–More 1 year at Sheikh Zayed Institute for Pediatric Surgical
Innovation @CNMC, Washington D.C, U.S.A.
–1 year as research assistant @ University of Bern,
Switzerland
–Now: joint PhD student @ Biorobotics Institute( SSSUP) and
CMBR(IIT)
–Participant of GSoC 2014 @ OSRF + ROS-I

Motivation/Project Goals
R. Kojcev, B. Kang, and E. Sinibaldi, “Towards robotic needle steering using ultrasound visual servoing and a
lightweight robot”. Proceedings of CARS 2015 – 29th International Congress and Exhibition on Computer
Assisted Radiology and Surgery, Barcelona (Spain), June 24-27, 2015 (accepted)

Current Progress
R. Kojcev, B. Kang, and E. Sinibaldi, “Towards robotic needle steering using ultrasound visual servoing and a
lightweight robot”. Proceedings of CARS 2015 – 29th International Congress and Exhibition on Computer
Assisted Radiology and Surgery, Barcelona (Spain), June 24-27, 2015 (accepted)

Contact Information
Risto Kojcev
PhD Student
Italian Institute of Technology
Center for MicroBio Robotics
Viale Rinaldo Piaggio, 34
56025 Pontedera (PI)
Email: rkojcev@gmail.com
it.linkedin.com/in/ristokojcev/
https://github.com/rkojcev

Contact Info.
55
Shaun Edwards
Senior Research Engineer
Southwest Research Institute
Phone: 210-522-6805
Email: sedwards@swri.org
http://rosindustrial.org

Contact Info.
56
Clay Flannigan
Manager
Southwest Research Institute
Phone: 210-522-6805
Email:
Clay.Flannigan@swri.org
http://robotics.swri.org

ROS-Industrial Kuka LBR-iiwa community meeting

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