Katana Robot Arm Plugin

Plugin to control Neuronic's Katana arm. Accessing the arm and controling its motions is done via controllers. Currently we support:

• KNI 3 library to access/control real arm (no hardware available to test KNI 4)
•  OpenRAVE to access/control arm in OpenRAVE simulation

Depending on the support level of the controller, the plugin provides access to

• the endeffector position in 6D space (translation and rotation)
• single motor/joint values (encoder and/or radian values)
• infrared sensor values
• internal status information

Motion control is provided for specific target in 6D space and setting/increasing/decreasing single joint values.
 OpenRAVE is supported to calculate a collision-free path to the desired target.

Requires

Plugins

• static-transforms
• openrave (if OpenRAVE support shuold be enabled)

Config Values

Path	Type	Description	Default	R
/hardware/katana/controller	string	Controller for the katana arm. Needs to be one of these values: "kni", "openrave"	kni	*
/hardware/katana/device	string	Device file of serial port the arm is connected to; file path	/dev/ttyUSB0	*
/hardware/katana/kni_conffile	string	KNI configuration file; file path	/etc/kni3/hd300/katana6M180.cfg	*
/hardware/katana/auto_calibrate	bool	Automatically calibrate on startup?	1	*
/hardware/katana/default_max_speed	unsigned int	Default maximum robot arm velocity, can be overridden via BB; [0..255]	100	*
/hardware/katana/read_timeout_msec	unsigned int	Timeout for read operations; ms	100	*
/hardware/katana/write_timeout_msec	unsigned int	Timeout for write operations; ms	0	*
/hardware/katana/gripper_pollint_msec	unsigned int	Interval between gripper final checks; ms	50	*
/hardware/katana/goto_pollint_msec	unsigned int	Interval between goto final checks; ms	50	*
/hardware/katana/park_x	float	X position for parking	66.863892	*
/hardware/katana/park_y	float	Y position for parking	16.27648	*
/hardware/katana/park_z	float	Z position for parking	442.759186	*
/hardware/katana/park_phi	float	Phi position for parking	1.809579	*
/hardware/katana/park_theta	float	Theta position for parking	0.357964	*
/hardware/katana/park_psi	float	Psi position for parking	-0.271071	*
/hardware/katana/distance_scale	float	Scale from kni coordinate values to fawkes	0.001	*
/hardware/katana/update_interval	float	Interval to update the motor position data even if there is no act thread running, required for tf; sec	0.5	*
/plugins/static-transforms/transforms/katana_kni/child_frame	string	Katana Arm to KNI base, child frame ID	/katana/kni	*
Additional Config Values if OpenRAVE available
/hardware/katana/openrave/enabled	bool	Use OpenRAVE support?	0	*
/hardware/katana/openrave/use_viewer	bool	Use OpenRAVE qtcoin viewer (i.e. see 3D robot model)?	1	*
/hardware/katana/openrave/auto_load_ik	bool	Automatically generate IK database for OpenRAVE robot model?	1	*
/hardware/katana/openrave/robot_file	string	robot.xml file to be loaded into OpenRAVE	../fawkes/res/openrave/caesar.robot.xml	*
/plugins/static-transforms/transforms/openrave/child_frame	string	Motor to OpenRAVE base/motor, child frame ID	/openrave/base	*

Provides

BlackBoard Interfaces

• KatanaInterface::Katana

Compilation and Runtime Requirements

• KNI library version 3 (kni3 and kni3-devel on Fedora)

Usage Instructions

We assume you have one Katana arm to the machine running Fawkes. The default configuration further assumes a USB to serial adapter. Change the device file if you use a regular serial port accordingly. Then load the plugin. You can use the behavior engine? to instruct the arm. For example, use the following commands either using the SkillGUI? or skilllet? (for further information on the parameters, take a loot at the skill's documentation):

katana{calibrate=true}
katana{park=true}
katana{gripper="open"}
katana{gripper="close"}
katana{enable=false}

katana{x=0.4, y=0, z=0.2, phi=1.570, theta=1.570, psi=0, frame="/katana/kni"}
katana{x=0.4, y=0, z=0.38, offset=0.05}
katana{x=0.42, y=-0.1, z=0.38, theta_error=0.5}

katana_rel{x=0.1, straight=true}