Difference between revisions of "2015 Summer Project Week:LightWeightRobotIGT"
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Image:PW-Summer2015.png|[[2015_Summer_Project_Week#Projects|Projects List]] | Image:PW-Summer2015.png|[[2015_Summer_Project_Week#Projects|Projects List]] | ||
Image:FiniteStateMachine_colored.png|Finite state machine which can be operated using Slicer Module | Image:FiniteStateMachine_colored.png|Finite state machine which can be operated using Slicer Module | ||
| − | Image: | + | Image:ScrennshotVFDefinitonRed.png|Screenshot of virtual fixtures in red slice |
| − | Image: | + | Image:ScreenShotVFOverview.png|Overview for the virtual fixtures definition |
</gallery> | </gallery> | ||
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* Sebastian Tauscher | * Sebastian Tauscher | ||
* Junichi Tokuda | * Junichi Tokuda | ||
| + | * Jayender Jagadeesan | ||
==Project Description== | ==Project Description== | ||
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<h3>Objective</h3> | <h3>Objective</h3> | ||
| − | * The LightWeightRobotIGT [ | + | * The LightWeightRobotIGT [https://www.slicer.org/wiki/Documentation/Nightly/Extensions/LightWeightRobotIGT] module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the OpenIGTLink protocol (LWROpenIGTIF). Therefore, a state machine example is available at Git Hub containing the necessary interface classes for the communication on the robot control. |
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<h3>Progress</h3> | <h3>Progress</h3> | ||
| − | * | + | * Definition of entrance/start point and end point of linear trajectory e.g. in CT-Images |
| + | * Orientation definition of virtual fixture and of target pose | ||
| + | * Pre defined offset between entrance point and virtual fixture | ||
</div> | </div> | ||
</div> | </div> | ||
Latest revision as of 17:07, 10 July 2017
Home < 2015 Summer Project Week:LightWeightRobotIGT
Finite state machine which can be operated using Slicer Module
Screenshot of virtual fixtures in red slice
Overview for the virtual fixtures definition
Key Investigators
- Sebastian Tauscher
- Junichi Tokuda
- Jayender Jagadeesan
Project Description
Objective
- The LightWeightRobotIGT [1] module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the OpenIGTLink protocol (LWROpenIGTIF). Therefore, a state machine example is available at Git Hub containing the necessary interface classes for the communication on the robot control.
Approach, Plan
During the project week the definition of virtaul fixtures and the definition of the target point via fiducials is planned.
- Definition of virtual fixtures via 2 points
- Definition of target point and target orientation
Progress
- Definition of entrance/start point and end point of linear trajectory e.g. in CT-Images
- Orientation definition of virtual fixture and of target pose
- Pre defined offset between entrance point and virtual fixture
