Python3 library used to control KUKA iiwa robots, the 7R800 and the 14R820, from an external computer.
Using the iiwaPy3 the utilizer can control the iiwa robot from his/her computer without a need for programming the industrial manipulator. A basic knowledge of using python is required.
The iiwaPy3 is a Python3 wrapper for the KUKA sunrise toolbox, found in here. To utilize the iiwaPy3, you have to install the KST Server (Java Application) into the Kuka iiwa controller using the Sunrise.Workbench.
Video tutorials on controlling IIWA from python are available in here.
To test the iiwaPy3 follow the steps:
1- Establish a peer to peer connection between the PC and the robot, described in videos 1 and 2 of the play list;
2- Synchronise the KST Server (Java Application) into the robot controller using the Sunrise.Workbench;
1- Run the application "MatlabToolboxServer" from the smartPad of the robot.
2- Note that you have 60 seconds to connect from Python3 before the server is shutdown automatically. In case you did not establish a connection within the 60 seconds, you have to start again the "MatlabToolboxServer" application from the smartPad of the robot .
From inside python IDE run the tutorial script Tutorial_getters, available here, you shall see data acquired from the robot controller printed inside python console.
(All python files starting with "Tutorial" are tutorial scripts written around iiwaPy3 class to control the robot)
Please cite the following article in your publications if it helps your research 🙏 :
@article{doi:10.1080/0951192X.2023.2177744,
author = {M. Safeea and P. Neto},
title = {Model-based hardware in the loop control of collaborative robots: Simulink and Python based interfaces},
journal = {International Journal of Computer Integrated Manufacturing},
volume = {0},
number = {0},
pages = {1-13},
year = {2023},
publisher = {Taylor & Francis},
doi = {10.1080/0951192X.2023.2177744},
}Copyright: Mohammad Safeea, first commit 20th-Jan-2021