Даниил Грабарь
79d88db930
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
751 B
751 B
Simulation (Webots)
!!! info "Work in progress" A detailed simulator guide is being prepared.
Webots is an open-source robot simulator. LWC uses it as a digital twin of the KUKA LBR IIWA 7, allowing control algorithms to be developed and debugged without a physical robot.
Key features
- The simulator uses the same ROS 2 topics and interfaces as the real robot.
- The simulation world is set in
cobot-setting.yaml→digital_twin.webots.world. - Start it with
cobot run --simulate.
Differences from the real robot
- There are no real safety constraints, so motion can be faster.
- Physics is approximate, including inertia, friction, and elasticity.
- FRI is not used; communication goes through the Webots ROS 2 driver.