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

页码：444 / 449

页数：6

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