Documentation of python-lwrsim

Documenation Contents

• Documentation of python-lwrsim
• 1. Setup of the python-lwrsim package
• 2. Reference
  • 2.1. Simulating with the lwr4 model
  • 2.2. Simulating with the lwr4_q1q2q4 model
  • 2.3. Simulating with the lwr4_q2q4 model
• 3. Tutorial 1: How to simulate the motion dynamics
  • 3.1. Required Steps
  • 3.2. Summary and Next Steps
• 4. Tutorial 2: Simulating the closed-loop motion dynamics
  • 4.1. Basic Setup
    • 4.1.1. Output
  • 4.2. Modifications and Discussion
  • 4.3. Summary
• 5. Tutorial 3: Simulating via Fast Research Interface
  • 5.1. Setup of the simulation side (the robot side)
    • 5.1.1. Initialization
    • 5.1.2. Dynamics Simulation and Communication via FRI
  • 5.2. Setup of the controller side (the remote side)
    • 5.2.1. Initialization
    • 5.2.2. Controlling on torque level via FRI
    • 5.2.3. Output
  • 5.3. Parallel setup
  • 5.4. Summary

Package Description

This package allows to simulate the robot motion dynamics of the KUKA Lightweight Robot IV. For this purpose, python-lwrsim interconnects the following parts:

• A dynamic robot model

  This is provided by one of the lwrsundialsmodels C-libraries. Each uses a different model of the robot dynamics, i.e. describing 2, 3 or all 7 joints of the robot. They all provide a function to compute the system dynamics and a function to compute the respective Jacobian. Depending on the chosen model, the respective functions are supplied to the ODE solver, see the next point.

• An ODE Solver

  In particular, the implicit ODE solver SUNDIALS IDA is used. To use this solver from Python, the python-sundials package is used

• An interface library (optional)

  Using the fripy library, the python-lwrsim package is able to emulate the Fast Research Interface of the real robot.

Indices and tables

• Index
• Module Index
• Search Page