Surgery Robotics with KUKA iiwa and Barrett hand’s documentation!

Getting Started

• Requirements
• Installation Instructions
  • Setup
  • Optional Instructions
• Running the simulation
  • Usage
  • Convenience scripts

ROS

• Node Architecture
  • Custom nodes
• Transformations
  • Robot Transformations
• Topics
  • Custom Topics
  • Custom topics from action servers

Kinematics

• Moveit Framework
• Trajectory Planning

Simulation

• Getting Started
• Robot Description
• Running experiments
  • Robot planner 1: Simple MoveIt planning
  • Robot Planner 2: Simulation layout and reachability experiments
  • Robot Planner 3: Trajectory planning
  • Robot Planner 4: Simple cube pick-and-place experiment
  • Robot Planner 5: Visual servoing
  • Robot Planner 6: RCM alignment error in insertion and retraction
  • End-to-end simulation
  • Spawn Surgical tool URDF

Vision

• Getting Started
  • Vision Launch file
  • Parameters tuning
• Surgical Tool Detection
  • Python Script

API Reference

• Packages
  • kinematics

Troubleshooting

• Troubleshooting

References

• References
  • Repositories
  • Useful websites & documentation

Indices and tables

• Index

• Module Index

• Search Page