• Tested on ROS KINETIC AND INDIGO
• Required Packages:

sudo apt-get install ros-kinetic-gazebo-ros-pkg
sudo apt-get install ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-moveit

• mkdir kuka_arm
• cd kuka_arm
• mkdir src
• cd src
• git clone [email protected]:CesMak/kuka_arm.git
• cd ..
• catkin init
• catkin build
• source devel/setup.bash
• roslaunch kuka_manipulator_description test_kr5.launch

roslaunch kr5_description start_kr5_description_rviz.launch

• Connect Gazebo Simulation to MoveIt

roslaunch kuka_kr5_gazebo rviz_connected_with_gz_using_moveit.launch

• This file is using the ros_control package and uses Position controllers

roslaunch kuka_kr5_gazebo gz_connected_with_rviz.launch

rostopic pub /kuka/link_1_controller/command std_msgs/Float64 "data: 0.5"

Try also this:

rostopic pub /kuka/control_command geometry_msg/Point "x: 1.0 y: 0.0   z: 0.0"

rostopic pub /kuka/control_command geometry_msg/Point "x: 2.0 y: 0.0   z: 0.0"

A PID Controller and a State Space Controller is implemented. To activate the PID or the state space controller please see the kuka_kr5_control/controller_node.yaml /controller_type value.

Note that PID Control does not work, cause the Ball Joints cannot be influenced directly but indirectly by the plate.

The scripts to get the control Matrix R and the Filter Matrix F can be found in kuka_kr5_conrol/scripts

Documentation of the Modelling and a precise description can be found at:

For more information about this KUKA KR5 Robot out of the ros_industrial package see:

https://github.com/ros-industrial/kuka_experimental/tree/indigo-devel/kuka_kr5_support

Also in terms of licenses etc. please refer to the above website.

• Endeffector is trembling a lot in gazebo see the discussion on ros.answers
• For DH-Table of this kuka_kr5_robot please check out kuka_experimental_issue

• https://github.com/sinaiaranda-CIDESI/motoman_mh6-10
• https://github.com/orsalmon/kuka_manipulator_gazebo
• Connect Robot to MoveIt: https://www.youtube.com/watch?v=j6bBxfD_bYs&t=638s