TU Delft · Department of Cognitive Robotics (CoR) · Faculty of Mechanical Engineering

Welcome to the Human Robot Collaboration group at TU Delft. This wiki is a hardware and software tutorial for new students joining the group. It covers the KUKA 7 and KUKA 14 robot arms, the KMR mobile platform, the Bota force sensor, and the lab's Cartesian impedance controller.

Follow the onboarding path before running your first experiment. All code and tutorials target Ubuntu 24.04 LTS and ROS 2 Jazzy.

Learn more about the department on the TU Delft Cognitive Robotics (CoR) website.

Draft: [TODO] marks information to be filled in and checked by the lab. Hardware operation requires the lab's approved training and procedures.

New students should work through these steps with an experienced lab member.

• Complete lab access and robot safety training.
• Identify the emergency stops and learn the approved stop and recovery procedures.
• Read the hardware overview below.
• Set up the software environment.
• Build and run the simulation or offline example, if available.
• Observe a supervised hardware session.
• Complete the supervised first experiment.
• Learn how to save data and shut down the system.

Document each robot separately where the setup differs.

• Identification: [TODO: model, asset label, location]
• Controller and interface: [TODO: cabinet, firmware, communication interface]
• Wiring: [TODO: labeled photo and connection diagram]
• Network: [TODO: robot IP, workstation IP, subnet, network port]
• End effector: [TODO: tool, mounting adapter, payload and center of mass configuration]
• Coordinate frames: [TODO: base frame, flange frame, tool frame, axis diagram]
• Approved operating limits: [TODO: link to robot-specific configuration and procedure]
• Startup / shutdown / recovery: [TODO: links to approved step-by-step procedures]

• Identification and intended use: [TODO]
• Charging and battery checks: [TODO]
• Network and workstation connection: [TODO]
• Operating area and map: [TODO]
• Localization and navigation: [TODO: software, launch procedure, required checks]
• Startup / shutdown / recovery: [TODO: approved procedures]
• Relationship to other platforms: [TODO: whether an arm or sensor is mounted on the KMR]

• Model and mounting: [TODO: include a photo showing sensor axes]
• Connection: [TODO: interface, cables, power requirements]
• Driver and configuration: [TODO: package, version, configuration file]
• Data interface: [TODO: topic/API, message type, rate, units, frame]
• Bias / zeroing: [TODO: approved procedure and required loading condition]
• Validation: [TODO: expected readings and a simple approved check]
• Calibration information: [TODO: location and date]

All lab code, examples, and tutorials must run on Ubuntu 24.04 LTS (Noble Numbat) with ROS 2 Jazzy Jalisco. Use this environment for development and for verifying the instructions below.

Official resources:

• Ubuntu 24.04 LTS download
• ROS 2 Jazzy documentation
• ROS 2 Jazzy installation on Ubuntu 24.04 (Debian packages)

1. Request access to the required repositories.
2. Install Ubuntu 24.04 LTS, then follow the official ROS 2 Jazzy installation guide and install the project dependencies.
3. Clone the repositories at the documented versions.
4. Build the workspace and load the environment.
5. Select the configuration for the intended robot.
6. Run the offline or simulation verification.

Commands: [TODO: insert commands tested on a clean Ubuntu 24.04 LTS workstation with ROS 2 Jazzy.]

Expected result: [TODO: successful build output and verification result.]

Configuration locations: [TODO: robot addresses, frames, tool properties, controller gains, sensor settings.]

Keep credentials out of this wiki and the repository.

The lab uses a Cartesian impedance controller for the KUKA robots.

• Source and entry point: [TODO: repository, package, launch file]
• Robot-specific configurations: [TODO: KUKA 7 and KUKA 14 files]
• Required robot state / operating mode: [TODO]
• Reference pose and frame convention: [TODO]
• Stiffness and damping: [TODO: parameters, units, approved initial values]
• Redundancy / null-space behavior: [TODO: describe if implemented]
• Command and state interfaces: [TODO: topics, services, actions, or other API]
• External force input: [TODO: explain whether and how Bota measurements are used]
• Command loss and stop behavior: [TODO: verified behavior and approved operator action]

[TODO: add one minimal, tested example after reviewing the controller repository.]

Include:

1. The required hardware and software state.
2. The exact configuration and launch commands.
3. How the initial reference is established.
4. One approved small motion or interaction task.
5. The expected observed behavior.
6. How to stop and shut down.

Goal: Verify the selected robot, controller, and any sensor needed for the experiment.

Example dataset and expected plots: [TODO: link]

Add solutions only after they have been verified on the relevant setup.

When reporting a problem, include the platform, software commit, configuration, reproduction steps, and relevant logs. For unexpected hardware behavior, follow the lab's stop procedure and contact the responsible person before resuming.

• Update instructions when hardware, configurations, or software versions change.
• Link to configuration files in GitHub instead of duplicating values here.
• Record which setup was used to verify a procedure.
• Add photos for connectors, switches, mounting, and coordinate frames.

Maintainer: [TODO]
Last verified: [TODO: date, platform, software version]

Start with this single page; split it as the tutorials become detailed.

• Getting Started
• Safety and Lab Procedures
• KUKA 7
• KUKA 14
• KMR
• Bota Force Sensor
• Software Installation
• Cartesian Impedance Controller
• First Experiment
• Troubleshooting