KSTclass_Tutorial_directServoCartesian1.m

%% Example of using KST class for interfacing with KUKA iiwa robots

% This example is used for soft real time control of the KUKA iiwa 7 R 800
% Moving EEF of the robot in Z direction using a sinusoidal function

% An example script, it is used to show how to use the different
% functions of the KUKA Sunrise matlab toolbox

% First start the server on the KUKA iiwa controller
% Then run this script using Matlab

% Important: Be careful when runnning the script, be sure that no human, nor obstacles
% are around the robot

% This example works with Sunrise application version KST_1.7  and higher.
% Copyright Mohammad SAFEEA, 25th-June-2018


close all;clear;clc;
warning('off')
%% Create the robot object
ip='172.31.1.147'; % The IP of the controller
arg1=KST.LBR7R800; % choose the robot iiwa7R800 or iiwa14R820
arg2=KST.Medien_Flansch_elektrisch; % choose the type of flange
Tef_flange=eye(4); % transofrm matrix of EEF with respect to flange
iiwa=KST(ip,arg1,arg2,Tef_flange); % create the object

%% Start a connection with the server
flag=iiwa.net_establishConnection();
if flag==0
  return;
end
pause(1);
disp('Moving first joint of the robot using a sinusoidal function')

%% Move to intial position
jPos={0,0,0,-pi/2,0,pi/2,0};
relVel=0.15;
iiwa.movePTPJointSpace(jPos, relVel); % move to initial configuration

%% Get Cartesian position of EEF
fprintf('Cartesian position')
eefpos=iiwa.getEEFPos();
eefposDist=eefpos;
disp(eefpos)

%% Start direct servo in Cartesian space       
iiwa.realTime_startDirectServoCartesian();
disp('Starting direct servo in Cartesian space');
w=2; % motion constants, frequency rad/sec
A=75; % motion constants, amplitude of motion (mm)
tic;
deltaT=0;
counter=0;
initiationFlag=0;
disp('Entering control loop, streaming EEF positions')

%% Control loop
while(deltaT<(6*pi/w))
if(initiationFlag==0)
    initiationFlag=1;
    t_0=toc;
    t0=t_0;
else
    time=toc;
    deltaT=time-t0;
    %%%%%%%%%%%%%%%%%%%%%%%%
    %% Perform trajectory calculation here
    eefposDist{3}=eefpos{3}-A*(1-cos(w*deltaT));
    %%%%%%%%%%%%%%%%%%%%%%%%
    % Send EEF position to robot
    if(toc-t_0>0.003)
        counter=counter+1;
        iiwa.sendEEfPositionf(eefposDist);
        t_0=toc;
    end
end
end
tstart=t0;
tend=time;
rate=counter/(tend-tstart);
%% Stop the direct servo motion
iiwa.realTime_stopDirectServoCartesian( );
fprintf('\nThe rate of update per second is: \n');
disp(rate);
fprintf('\n')
pause(2);
%% Turn off the server
iiwa.net_turnOffServer( );
warning('on')