Difference between revisions of "2015 Summer Project Week:LightWeightRobotIGT"

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Image:PW-Summer2015.png|[[2015_Summer_Project_Week#Projects|Projects List]]
 
Image:PW-Summer2015.png|[[2015_Summer_Project_Week#Projects|Projects List]]
 
Image:FiniteStateMachine_colored.png|Finite state machine which can be operated using Slicer Module
 
Image:FiniteStateMachine_colored.png|Finite state machine which can be operated using Slicer Module
Image:ScreenshotLWRIGT.jpg|Screenshot of the Slicer module and the current robot position in CT data of the Femur phantom
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Image:ScrennshotVFDefinitonRed.png|Screenshot of virtual fixtures in red slice
 
Image:ScreenShotVFOverview.png|Overview for the virtual fixtures definition
 
Image:ScreenShotVFOverview.png|Overview for the virtual fixtures definition
 
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Revision as of 11:39, 24 June 2015

Home < 2015 Summer Project Week:LightWeightRobotIGT

Key Investigators

  • Sebastian Tauscher
  • Junichi Tokuda
  • Jayender Jagadeesan

Project Description

Objective

  • The LightWeightRobotIGT [1] module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the OpenIGTLink protocol (LWROpenIGTIF). Therefore, a state machine example is available at Git Hub containing the necessary interface classes for the communication on the robot control.

Approach, Plan

During the project week the definition of virtaul fixtures and the definition of the target point via fiducials is planned.

  • Definition of virtual fixtures via 2 points
  • Definition of target point and target orientation

Progress