Open Source Real-Time Control Software for the Kuka Light Weight Robot

被引：10
|
作者：
Schoepfer, Matthias [1 ]
Schmidt, Florian [1 ]
Pardowitz, Michael [1 ]
Ritter, Helge [1 ]
机构：
[1] Univ Bielefeld, Neuroinformat Grp, Fac Technol, Bielefeld, Germany
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
Robots; Manipulators; Control systems;
D O I：
10.1109/WCICA.2010.5553773
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The Kuka lightweight robot offers unique features to researchers. Besides its 7 Degrees of Freedom (DOF), also torque sensing in every joint and a variety of compliance modes make the robot a good choice for robotic research. Unfortunately the interface to control the robot externally has its restrictions. In this paper, we present an open source solution (OpenKC) that will allow the control of the robot externally using a simple set of routines that can easily be integrated in existing software. All features and modes of the Kuka light weight robot can be used and triggered externally. Simultaneous control of several robots is explicitly supported. The software has proven its use in several applications.
引用
收藏
页码：444 / 449
页数：6
相关论文
共 50 条
  • [31] Real-Time Predictive Control of a Brachiation Robot
    de Oliveira, Vinicius Menezes
    Lages, Walter Fetter
    2009 IEEE CONFERENCE ON EMERGING TECHNOLOGIES & FACTORY AUTOMATION (EFTA 2009), 2009,
  • [32] RTHybrid: A Standardized and Open-Source Real-Time Software Model Library for Experimental Neuroscience
    Amaducci, Rodrigo
    Reyes-Sanchez, Manuel
    Elices, Irene
    Rodriguez, Francisco B.
    Varona, Pablo
    FRONTIERS IN NEUROINFORMATICS, 2019, 13 : 1 - 14
  • [33] OCTSharp: an open-source and real-time OCT imaging software based on C#
    Chen, Weihao
    Wang, Hui
    BIOMEDICAL OPTICS EXPRESS, 2023, 14 (11) : 6060 - 6071
  • [34] SUPRA: open-source software-defined ultrasound processing for real-time applications
    Gobl, Rudiger
    Navab, Nassir
    Hennersperger, Christoph
    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, 2018, 13 (06) : 759 - 767
  • [35] Development and implementation of real-time data acquisition systems for fusion devices with Open Source software
    Zilker, M.
    Behler, K.
    Bluhm, T.
    Heimann, P.
    Hennig, Ch.
    Kroiss, H.
    Kuehner, G.
    Laqua, H.
    Lewerentz, M.
    Maier, J.
    Neu, G.
    Raupp, G.
    Reich, M.
    Riemann, H.
    Schacht, J.
    Spring, A.
    Treutterer, W.
    Werner, A.
    Zehetbauer, T.
    FUSION ENGINEERING AND DESIGN, 2010, 85 (3-4) : 378 - 382
  • [36] Architecture Based on Open Source Hardware and Software for Designing a Real-Time Vehicle Tracking Device
    Castillo Rodriguez, Diony Roely
    Martinez Laguardia, Alain Sebastian
    Gomez Abreu, Alberto
    SISTEMAS & TELEMATICA, 2018, 16 (44): : 49 - 61
  • [37] Open-Source Software for Real-time Calcium Imaging and Synchronized Neuron Firing Detection
    Taniguchi, Masaki
    Tezuka, Taro
    Vergara, Pablo
    Srinivasan, Sakthivel
    Hosokawa, Takuma
    Cherasse, Yoan
    Naoi, Toshie
    Sakurai, Takeshi
    Sakaguchi, Masanori
    2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC), 2021, : 2997 - 3003
  • [38] Real-time analysis of mechanical and electrical resonances with open-source sound card software
    Makan, G.
    Kopasz, K.
    Gingl, Z.
    EUROPEAN JOURNAL OF PHYSICS, 2014, 35 (01)
  • [39] Stabilizing NMPC of Wheeled Mobile Robots Using Open-Source Real-Time Software
    Mehrez, Mohamed W.
    Mann, George K. I.
    Gosine, Raymond G.
    2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2013,
  • [40] Implementation of real-time TDDFT for periodic systems in the open-source PySCF software package
    Hanasaki, Kota
    Ali, Zulfikhar A.
    Choi, Min
    Del Ben, Mauro
    Wong, Bryan M.
    JOURNAL OF COMPUTATIONAL CHEMISTRY, 2023, 44 (09) : 980 - 987
12345