Motion Compensation using MPC for TKA Surgical Robot
Liwei Yang [email protected] Qilin Wu [email protected]
Dynamic compensate motion in TKA surgery
Install tekkneeca in paradocs_ws
Install this repo in ocrl_ws
- For Gazebo simulation with random pose offset publisher
t1:
source both ws
ros2 launch dyna_comp tekkneeca_sim_ocrl.launch.py
t2:
source ocrl_ws
ros2 launch ocs2_mobile_manipulator_ros manipulator_kuka.launch.py dummy:=true rviz:=true
t3:
source ocrl_ws
ros2 run ocs2_mobile_manipulator_ros open_loop_mrt_node_torque
- For physical KUKA LBR MED 7 with random pose offset publisher
t1:
source both ws
ros2 launch dyna_comp tekkneeca_ocrl.launch.py
t2:
source ocrl_ws
ros2 launch ocs2_mobile_manipulator_ros manipulator_kuka.launch.py dummy:=true rviz:=true
t3:
source ocrl_ws
ros2 run ocs2_mobile_manipulator_ros open_loop_mrt_node_torque
- For physical LBR MED 7 with Aruco marker pose
t1:
source both ws
ros2 launch dyna_comp tekkneeca_ocrl_aruco.launch.py
t2: source paradocs_ws
ros2 launch paradocs_control single.launch.py
subscribe to aruco_result in Rviz
t3:
source ocrl_ws
ros2 run dyna_comp bone_motion_aruco.py
t4:
source ocrl_ws
ros2 launch ocs2_mobile_manipulator_ros manipulator_kuka.launch.py
t5:
source ocrl_ws
ros2 run ocs2_mobile_manipulator_ros open_loop_mrt_node_torque