KUKA based 3D Reaching

Software package that enables the control of a seven-degree-of-freedom robotic arm (Intelligent Industrial Work Assistant, IIWA - KUKA, Augsburg, Germany) to position objects in a large three-dimensional work space and safely interact with primates. The software package is configured as a finite state machine. Specifically, the robot moves the end effector to a set of pre-determined positions in space using standard impedance joint control strategy. When the position is reached, the finite state machine switches to mass-spring damper behaviour. Stiffness and damping parameters are entirely definable by the user and can be easily modified. The three-dimensional pulling force is continuously monitored and recorded. When the end-effector is pulled across a predetermined virtual border, the robot returns to the starting position where it waits for the next target position.