Kuka kr16 and dynamics?
Hello everyone
This thread is open to asking short questions to find answers.
I am a student who is using the KUKA KR16 L6-2 robot in research, and now I am having a very confused problem and not sure if I can do it.
My teacher wanted me to use it with impedance controls, which I know are essential for dynamics calculations.
I think this is not possible with this robot and just to be sure please tell me if the KUKA KR16 L6-2 robot besides kinematics can do dynamics calculations and where should I find its additional parameters enough to calculate?
P.S. I'm a newbie so this question might seem silly to some. I'm very sorry.
I was doing admittance control on KUKAs with external FTS sensor. And yes for impedance control you need dynamic model which can be estimated from CAD data and make batter later. Nevertheless, have fun going that path, it will be ... fun...
Have fun until tears flow, right? hahaha, thanks for the answer. I'm currently using the F/T Sensor: mini40 to control the robot. I'll try to find and study the dynamic model as you tell.
Technically, this doesn't appear to be a ROS question.
You're asking about capabilities/restrictions of KUKA robots. It doesn't really matter which particular KR model it is, because anything connected to a KRC (ie: KR C2, KR C4, KR C5, etc) and controlled via RSI would not offer anything but position control.
again, technically, the answer to this question, verbatim, would be: of course the KUKA controller includes dynamics in its control laws. Not the robot, but the controller.
But I don't believe that's what you're asking.
@gvdhoorn Thanks for your answer. And yes it's not about ros, I'm sorry I asked in this community. Your answer gave me a very good answer to my question. I'm really skeptical about the robot's abilities.