Getting started with Franka Emika Research 3

Owned by Karen Chiang
May 17, 2024
2 min read

Installation:

  1. Follow https://socialrobotics.atlassian.net/wiki/spaces/CBSR/pages/2180415493 to have the SIC framework up and running.

  2. If you want to be able to control the robot on your machine, there are two Python packages you need to install in your virtual environment (venv or conda): panda-py and libfranka. Follow the installation steps here: https://github.com/JeanElsner/panda-py?tab=readme-ov-file#install

    Our robot is version >= 5.2.0 (FR3), so the libfranka version should be 0.10.0 or higher. Download the latest version that ends with 0.10.0.zip. Then, use pip to install the version that corresponds to the Python version you are currently using. For example, if you are using Python 3.9, install the corresponding version

    1. pip install panda_python-0.7.5+libfranka.0.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

 

 

Start with the robot

1. Switch on the Franka

  1. Press the power switch on the backside of the Control

2. Network setup:

  • Connection between the Control and the workstation:

  1. The workstation’s network setting has already been configured, so you simply need to connect the workstation and the Control with an ethernet cable

  2. Select network Wired connection 1

  3. Open a browser, *Desk can be accessed via https://172.16.0.2, although you will see a certificate warning in your browser

  4. Unlock joints

  5. Activate FCI (make sure the operations mode is execution instead of programming. The status indicator should turn green when in execution mode)

*Desk is Franka Emika‘s web-based, intuitive and graphical programming and user interface

 

3. Switch off the Franka

  1. First, shut down the system by clicking the option “shut-down” in the sidebar of Desk. The safety locking system is activated, and Franka will shut down.

  2. Then, use the power switch on the back of the Control to disconnect Franka from the mains eletricity.

Be aware: after using the switch to power the system off, please ensure to allow adequate waiting time (i.e. in the order of ~ 1 minute) before using it to power the system on again