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

From NAMIC Wiki
Jump to: navigation, search
m (Text replacement - "http://www.slicer.org/slicerWiki/index.php/" to "https://www.slicer.org/wiki/")
 
(4 intermediate revisions by 2 users not shown)
Line 2: Line 2:
 
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
+
Image:ScrennshotVFDefinitonRed.png|Screenshot of virtual fixtures in red slice
Image:StatemachineColoring.jpg|Color coding for the robot state
+
Image:ScreenShotVFOverview.png|Overview for the virtual fixtures definition
 
</gallery>
 
</gallery>
  
Line 9: Line 9:
 
* Sebastian Tauscher
 
* Sebastian Tauscher
 
* Junichi Tokuda
 
* Junichi Tokuda
 +
* Jayender Jagadeesan
  
 
==Project Description==
 
==Project Description==
Line 14: Line 15:
 
<div style="width: 27%; float: left; padding-right: 3%;">
 
<div style="width: 27%; float: left; padding-right: 3%;">
 
<h3>Objective</h3>
 
<h3>Objective</h3>
* The LightWeightRobotIGT [http://www.slicer.org/slicerWiki/index.php/Documentation/Nightly/Extensions/LightWeightRobotIGT] 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.   
+
* The LightWeightRobotIGT [https://www.slicer.org/wiki/Documentation/Nightly/Extensions/LightWeightRobotIGT] 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.   
 
</div>
 
</div>
 
<div style="width: 27%; float: left; padding-right: 3%;">
 
<div style="width: 27%; float: left; padding-right: 3%;">
Line 24: Line 25:
 
<div style="width: 27%; float: left; padding-right: 3%;">
 
<div style="width: 27%; float: left; padding-right: 3%;">
 
<h3>Progress</h3>
 
<h3>Progress</h3>
*  
+
* Definition of entrance/start point and end point of linear trajectory e.g. in CT-Images
 +
* Orientation definition of virtual fixture and of target pose
 +
* Pre defined offset between entrance point and virtual fixture
 
</div>
 
</div>
 
</div>
 
</div>

Latest revision as of 17:07, 10 July 2017

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

  • Definition of entrance/start point and end point of linear trajectory e.g. in CT-Images
  • Orientation definition of virtual fixture and of target pose
  • Pre defined offset between entrance point and virtual fixture