1. Samir Menon Avatar Samir Menon
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  3. scl-manips-v2

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scl-manips-v2 / haptic_teleoperation_demo / usage

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Run the Haptic Teleoperation Demo

1. Start the Kuka

  • Validate Loaddata
  • Activate Position Control once to avoid MAX LOAD ERROR or whatever it's called
  • Start fricontrol (NOT FRIControlTrq)

2. Setup Ethernet

  • Ethernet Connection to the Weiss WSG50 Gripper (IP of Linux Machine 192.168.1.10)
  • Ethernet Connection to the KUKA KRC (IP of Linux Machine 192.168.0.100)
  • Ethernet Connection to the Internet (IP by DHCP)

2. Setup the Rest of the Hardware

  • Jr3 Force Sensor needs to be connected
  • Haptic Device needs to be connected and initialized
  • The WSG50 Gripper needs to be connected
  • All devices need to have power

3. Start kuka_torque_interface

!!!SAFETY!!! - NEVER START KUKA_TORQUE_INTERFACE WHILE KUKA_SCL_CONTROLLER IS ALREADY RUNNING, OR ANY OTHER PROGRAM THAT USES SMIC FOR THAT MATTER!

cd scl-manips-group.git/applications-linux/scl_fabian_ctrl/kuka_torque_interface/
./startTorqueInterface

Type f within the program to start the kuka_torque_interface.

4. Start kuka_torque_interface

!!!SAFETY!!! - ONLY START THE KUKA_SCL_CONTROLLER AFTER YOU RECEIVED A MESSAGE ON THE SCREEN OF KUKA_TORQUE_INTERFACE INFORMING YOU THAT IT IS NOW SAFE TO DO SO!

For controlling the KUKA LWR (Hardware):

cd scl-manips-group.git/applications-linux/scl_fabian_ctrl/kuka_scl_controller/
./startKUKAController
For starting the simulation only: 
cd scl-manips-group.git/applications-linux/scl_fabian_ctrl/kuka_scl_controller/
./startSIMController
Note that you do not need to start kuka_torque_controller if you only want to simulate.

5. User Interface

The robot will move to the start position. After 2 seconds (resetting the sensor offsets takes some time) you can operate the clutch by hitting 1 on the keyboard (you need to have the focus on the SCL simulation window). You will hit worksapce limitations of the haptic device quite frequently so it is recommended to make frequent use of the clutch. The button on the haptic device operates the gripper.

Contact: gerlinghaus@cs.stanford.edu

Updated