Motion and control configuration

Control mode

The KUKA LBR iiwa can be operated with a number of different controllers

Control mode	Enum (`ControlMode`)
Position controller: Execute the specified path with the maximum possible positional accuracy and without path deviation	`CONTROL_MODE_POSITION`
Cartesian impedance controller: Virtual spring damper system with configurable values for stiffness and damping. This allows the robot to react in a compliant manner to external influences	`CONTROL_MODE_CARTESIAN_IMPEDANCE`
Cartesian impedance controller with overlaid force oscillation: Special form of the Cartesian impedance controller. In addition to the compliant behavior, constant force setpoints and sinusoidal force oscillations can be overlaid	`CONTROL_MODE_CARTESIAN_SINE_IMPEDANCE`
Axis-specific impedance controller: Virtual spring damper system with configurable values for stiffness and damping for each axis (joint)	`CONTROL_MODE_JOINT_IMPEDANCE`

class libiiwa.ControlMode(value)

Bases: Enum

Configurable control modes

CONTROL_MODE_CARTESIAN_IMPEDANCE = 43

CONTROL_MODE_CARTESIAN_SINE_IMPEDANCE = 44

CONTROL_MODE_JOINT_IMPEDANCE = 42

CONTROL_MODE_POSITION = 41

set_control_mode

LibIiwa.set_control_mode(control_mode: ControlMode) → bool

Set the control mode

Parameters:: control_mode (ControlMode) – Control mode
Raises:: AssertionError – If the control mode is not valid
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_control_mode(libiiwa.ControlMode.CONTROL_MODE_POSITION)
True

Motion type

The KUKA LBR iiwa can programmed to perform different types of motion

Motion type	Enum (`MotionType`)
Point-to-point motion (PTP): Executes a point-to-point motion to the end point	`MOTION_TYPE_PTP`
Linear motion (LIN): Executes a linear motion to the end point	`MOTION_TYPE_LIN`
Linear relative motion (LIN_REL): Executes a linear motion relative to the end position of the previous	`MOTION_TYPE_LIN_REL`
Circular motion (CIRC): Executes a circular motion	`MOTION_TYPE_CIRC`

class libiiwa.MotionType(value)

Bases: Enum

Configurable motion types

MOTION_TYPE_CIRC = 24

MOTION_TYPE_LIN = 22

MOTION_TYPE_LIN_REL = 23

MOTION_TYPE_PTP = 21

set_motion_type

LibIiwa.set_motion_type(motion_type: MotionType) → bool

Set the motion type

Parameters:: motion_type (MotionType) – Motion type
Raises:: AssertionError – If the motion type is not valid
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_motion_type(libiiwa.MotionType.MOTION_TYPE_LIN)
True

Control interface

The KUKA LBR iiwa can be operated with a number of different motion classes

Control interface	Enum (`ControlInterface`)
Standard: TODO	`CONTROL_INTERFACE_STANDARD`
Servo motions (Servoing): Non-deterministic, soft real-time motions	`CONTROL_INTERFACE_SERVO`
Fast Research Interface: TODO	`CONTROL_INTERFACE_FRI`

class libiiwa.ControlInterface(value)

Bases: Enum

Configurable control interfaces

CONTROL_INTERFACE_FRI = 33

CONTROL_INTERFACE_SERVO = 32

CONTROL_INTERFACE_STANDARD = 31

set_control_interface

LibIiwa.set_control_interface(control_interface: ControlInterface) → bool

Set the control interface

Parameters:: control_interface (ControlInterface) – Control interface
Raises:: AssertionError – If the control interface is not valid
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_control_interface(libiiwa.ControlInterface.CONTROL_INTERFACE_SERVO)
True

Execution type

Motion commands can be executed synchronously or asynchronously

Execution type	Enum (`ExecutionType`)
Synchronous: Motion commands are sent in steps to the real-time controller and executed (blocking)	`EXECUTION_TYPE_SYNCHRONOUS`
Asynchronous: Next program line is executed directly after the motion command is sent (non-blocking)	`EXECUTION_TYPE_ASYNCHRONOUS`

class libiiwa.ExecutionType(value)

Bases: Enum

Configurable execution types

EXECUTION_TYPE_ASYNCHRONOUS = 51

EXECUTION_TYPE_SYNCHRONOUS = 52

set_execution_type

LibIiwa.set_execution_type(execution_type: ExecutionType) → bool

Set the execution type

Parameters:: execution_type (ExecutionType) – Execution type
Raises:: AssertionError – If the execution type is not valid
Returns:: True if successful, False otherwise
Return type:: bool

Example:

>>> iiwa.set_control_mode(libiiwa.ExecutionType.EXECUTION_TYPE_ASYNCHRONOUS)
True