Application pick & place - KUKA iiwa 14

[Matheus]

Hello there,

I have to do a project what consist in pick and place. I have though about a conveyor from where appear some cubes. Then, a robot KUKA iiwa 14 picks the cube and places it on the table that is next to the convenyor. The idea is to place a proximity sensor on the conveyor, that do the cube detectable. Later, the robot picks the cube and places each of them on the table.
Could anybody explain me what steps are the most properly to do this kind of application? I have tried to do something following some tutorial videos but I am quite lost. I have not use much this kind of simulator and any suggestion of how to start, it will be welcome.

Thank you very much in advanced.

[coppelia]

Hello,

have a look at the demo scene ur5WithRg2Grasping.ttt

Cheers

[Matheus]

Thanks very much. It seems very useful for starting. I will have a look and I´ll make you more concrete questions further on.

[Matheus]

Hello,

I already have a looked at ur5WithRg2Grasping.ttt scene and after that I have created the same scene but with LBR_iiwa_14_R820 manipulator and I have the following errors:

Simulation started.
Lua runtime error: [string "CHILD SCRIPT LBR_iiwa_14_R820"]:39: IK group does not exist. (sim.getIkGroupHandle)
stack traceback:
[C]: in function 'getIkGroupHandle'
[string "CHILD SCRIPT LBR_iiwa_14_R820"]:39: in function <[string "CHILD SCRIPT LBR_iiwa_14_R820"]:33>
Lua runtime error: [string "CHILD SCRIPT RG2"]:16: Object does not exist. (sim.getObjectName)
stack traceback:
[C]: in function 'getObjectName'
[string "CHILD SCRIPT RG2"]:16: in function <[string "CHILD SCRIPT RG2"]:1>
simulation stopping...
Simulation stopped.

I have attached the link to share the scene:

https://drive.google.com/file/d/1YotCJ4 ... sp=sharing

I would like to change the robot and later understanding the code and It can modificate the scene as far as possible.

Another thing that I don´t know how to find out are the position of each joint:

Code: Select all

pickConfig={-70.1*math.pi/180,18.85*math.pi/180,93.18*math.pi/180,68.02*math.pi/180,109.9*math.pi/180,90*math.pi/180}
    dropConfig1={-183.34*math.pi/180,14.76*math.pi/180,78.26*math.pi/180,-2.98*math.pi/180,-90.02*math.pi/180,86.63*math.pi/180}
    dropConfig2={-197.6*math.pi/180,14.76*math.pi/180,78.26*math.pi/180,-2.98*math.pi/180,-90.02*math.pi/180,72.38*math.pi/180}
    dropConfig3={-192.1*math.pi/180,3.76*math.pi/180,91.16*math.pi/180,-4.9*math.pi/180,-90.02*math.pi/180,-12.13*math.pi/180}
    dropConfig4={-189.38*math.pi/180,24.94*math.pi/180,64.36*math.pi/180,0.75*math.pi/180,-90.02*math.pi/180,-9.41*math.pi/180}

I hope you can solve my doubts.

Thank very much,

[coppelia]

The error is quite clear: the specified IK group does not exist.
Did you read the section on IK, and try the tutorial on IK?

Cheers