Hardware in the Loop: Training Robot Contact in an Unstructured Environment

This talk presents the story and software architecture behind an experimentally tested, machine learning framework for robot contact classification and motion control using a KUKA LBR iiwa robot, gRPC, and Python.

Kuka LBR iiwa Examples

Application and programming examples for the KUKA LBR iiwa 7 R800

KUKA LBR iiwa Examples

While cleaning out old git project from my PhD, I created a repository of programming examples for the KUKA LBR iiwa. These examples cover many basic and advanced applications, such as impedance control, force conditions for collision reactions, and data logging.