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ROS-Industrial Kuka LBR-iiwa community meeting

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Open community meeting focused on the Kuka LBR iiwa robot and development activities within the ROS-Industrial Community. Video here: http://youtu.be/brDMvFzdfAk

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ROS-Industrial Kuka LBR-iiwa community meeting

  1. 1. ROS-Industrial Focused Community Meeting: Kuka LBR iiwa March 5, 2015 Clay Flannigan Shaun Edwards
  2. 2. 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
  3. 3. 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
  4. 4. Introduction
  5. 5. 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
  6. 6. Kuka LBR iiwa • The Kuka LBR iiwa is an – exciting innovation in collaborative industrial robotics – enable automation in many new application areas
  7. 7. Kuka
  8. 8. KUKA Lightweight Robot Interfaces Michael Gerstenberger 5-Mar-2015
  9. 9. 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
  10. 10. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 10  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
  11. 11. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 11  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
  12. 12. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 12  DeviceNet standard  Profibus optional  Fieldbus bridges possible LWR 4+ Fieldbuses
  13. 13. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 13  Access to Windows XP networking features  Ethernet KRL XML (EKX)  RSI Ethernet object  FRI (Fast Research Interface) LWR 4+ Ethernet Interfaces
  14. 14. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 14  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
  15. 15. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 15  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
  16. 16. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 16  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
  17. 17. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 17  EtherCAT standard  Profinet / Profisafe optional  Fieldbus bridges possible LBR iiwa Fieldbuses
  18. 18. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 18  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
  19. 19. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 19  Access to Windows 7 networking features  Java Ethernet communication classes  Fast Robot Interface LBR iiwa Ethernet interfaces
  20. 20. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 20  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
  21. 21. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 21 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
  22. 22. www.kuka-robotics.com KUKA LBR interfaces KUKA Robotics | Michael Gerstenberger | 05.03.2015 | Page 22 KUKA Lightweight Robot Interfaces  Any questions?
  23. 23. Developers
  24. 24. NIST
  25. 25. ROS-Industrial Focused Community Meeting: Kuka LBR iiwa Fred Proctor, Jeremy Marvel, and Rick Candell National Institute of Standards and Technology (NIST) March 5, 2015
  26. 26. 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
  27. 27. 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
  28. 28. Current KUKA Development • 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
  29. 29. 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
  30. 30. Norwegian of University of Science and Technology
  31. 31. ROS-Industrial Focused Community Meeting: Kuka LBR iiwa Lars Tingelstad Department of Production and Quality Engineering Norwegian of University of Science and Technology Trondheim, Norway
  32. 32. Introduction • Lars Tingelstad – MSc in Mechanical Engineering – PhD Candidate Jan. 2012 – present. – Project: Robotic Assembly of Aircraft Engine Components
  33. 33. KUKA Lab at IPK, NTNU
  34. 34. Current KUKA Development • 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
  35. 35. 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
  36. 36. Fraunhofer IPA
  37. 37. ROS-Industrial Focused Community Meeting: Kuka LBR iiwa Fraunhofer IPA 325 driver Pablo Quilez
  38. 38. Background • Human-Machine collaboration in rivet operation example • Communication between hardware components and robot • Skill-based easy programming interface • Rapid development required
  39. 39. 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
  40. 40. 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):
  41. 41. 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
  42. 42. Contact Info. 42 Pablo Quilez Velilla Computer Engineer Fraunhofer IPA Phone: +49 (0)711 / 970 – 1304 Email: pablo.quilez.velilla@ipa.fhg.de
  43. 43. Centro Piaggio
  44. 44. KUKA LWR 4+ ROS PACKAGES Designed to work on real and simulation
  45. 45. 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)
  46. 46. 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
  47. 47. 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
  48. 48. Italian Institute of Technology
  49. 49. ROS-Industrial Focused Community Meeting: Kuka LBR iiwa Ultrasound Visual Servoing for Medical Applications- Risto Kojcev March 2015
  50. 50. 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
  51. 51. 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)
  52. 52. 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)
  53. 53. 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
  54. 54. Discussion
  55. 55. Contact Info. 55 Shaun Edwards Senior Research Engineer Southwest Research Institute Phone: 210-522-6805 Email: sedwards@swri.org http://rosindustrial.org
  56. 56. Contact Info. 56 Clay Flannigan Manager Southwest Research Institute Phone: 210-522-6805 Email: Clay.Flannigan@swri.org http://robotics.swri.org

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