Documentation/Nightly/Extensions/LightWeightRobotIGT

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Introduction and Acknowledgements

This work is supported in part by the National Institute of Health (R01CA111288, P01CA067165, P41RR019703, P41EB015898, R01CA124377, R01CA138586, R42CA137886, and U54EB005 149) and is funded by KUKA Laboratories GmbH (Augs- burg, Germany). Author: Sebastian Tauscher, Junichi Tokuda Contact: Sebastian Tauscher, <email>sebastian.tauscher@imes.uni-hannover.de</email>

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Module Description

The LightWeightRobotIGT module allow to communicate with a light weight robot LWR iiwa (KUKA Laboratories GmbH, Germany, Augsburg) using a open interface concept based on the OpenIGTLink protocol. Therefor, a state machine example is available at ADD LINK containing the necessary interface classes for the communication on the robot control. For an tutorial on how to set up the robotic system for the use with this 3D Slicer module see XX. The module provides the following features :

• State control: A state machine on the robot control can be operated using string commands of the type "CommandName;p1;...;pn;" where p1-pn are the parameters needed to initialise the state. When the robot model is visualised the robot changes the color according to its current state.
• Visualisation: A 3D model of the robot can be loaded and is automatically connected to the corresponding transformation matrices received from the robot control. Furthermore, the estimate force at the tool center point, e.g. the tool tip can be visualized by an scale 3D arrow in the force direction.

Use Cases

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Tutorials

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Panels and their use

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Similar Modules

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References

Tauscher S, Tokuda J, Schreiber G, Neff T, Hata N, Ortmaier T. OpenIGTLink interface for state control and visualisation of a robot for image-guided therapy systems. Int J Comput Assist Radiol Surg. 2014 Jun 13.