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Simulated LBR3 Arm

Microsoft Robotics

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Simulated LBR3 Arm

The Simulated KUKA® LBR3 Robotic Arm service provides access for controlling the joints on a simulated KUKA® LBR3 Arm.

This sample is provided in the C# language. You can find the project files for this sample at the following location under the Microsoft Robotics Developer Studio installation folder:

Sample location
Samples\Simulation\ArticulatedArms\LBR3

Contents:

Prerequisites

Hardware

This service requires no special hardware apart from a suitable graphics card to run the Simulator.

Software

This software is designed to run with Microsoft Robotics Developer Studio.

Setting Up the Service

The Simulated KUKA® LBR3 Robotic Arm service is installed automatically with RDS. The sample that shows usage of the Simulated KUKA® LBR3 Robotic Arm service is Simulated Articulated Entities.

The simulated LBR3 arm implements the generic Articulated Arm service contract so that it can be controlled by other services.

Running the Service

There are two different methods to start the Simulated KUKA® LBR3 Robotic Arm service. Either:

  • Start the service by adding the service to a manifest either through DSS Manifest Editor (DSSME) or manually with any text editor. The below XML shows how the Simulated KUKA® LBR3 Robotic Arm service should appear in the manifest.
    XML
    <?xml version="1.0"?>
    <Manifest 
        xmlns:simulation="http://schemas.microsoft.com/robotics/2006/04/simulation.html" 
        xmlns:simulatedlbr3arm="http://schemas.microsoft.com/robotics/simulation/services/2006/07/simulatedlbr3arm.html" 
        xmlns:this="urn:uuid:e3ef35a7-459b-440a-9bd4-438346f4076f" 
        xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html" 
        xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html">
      <CreateServiceList>
        <!--Any other services you want to start could be here-->
        <ServiceRecordType>
          <dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/07/simulatedlbr3arm.html</dssp:Contract>
          <dssp:PartnerList>
            <dssp:Partner>
              <dssp:Service>http://localhost/LBR3ArmEntityName</dssp:Service>
              <dssp:PartnerList />
              <dssp:Name>simulation:Entity</dssp:Name>
            </dssp:Partner>
          </dssp:PartnerList>
          <Name>this:SimulatedKUKALBR3RoboticArm</Name>
        </ServiceRecordType>
      </CreateServiceList>
    </Manifest>
  • Start the service programatically as done in a program that creates a simulation environment:
    C#
    Microsoft.Robotics.Services.Simulation.LBR3Arm.Proxy.Contract.CreateService(
        ConstructorPort, "http://localhost/" + lbr3Entity.State.Name,
        Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
            "http://localhost/" + lbr3Entity.State.Name)
    );

Summary

This sample covered the following:

 

 

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