Controlling Kuka Industrial Robots : Flexible Communication Interface JOpenShowVar.

Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad
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http://hdl.handle.net/11250/2471048
Date
2015
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Original version
IEEE robotics & automation magazine. 2015, 22 (4), 96-109.   10.1109/MRA.2015.2482839
Abstract
JOpenShowVar is a Java open-source cross-platform communication interface to Kuka industrial robots. This novel interface allows for read-write use of the controlled manipulator variables and data structures. JOpenShowVar, which is compatible with all the Kuka industrial robots that use KUKA Robot Controller version 4 (KR C4) and KUKA Robot Controller version 2 (KR C2), runs as a client on a remote computer connected with the Kuka controller via TCP/IP. Even though only soft real-time applications can be implemented, JOpenShowVar opens up to a variety of possible applications, making the use of various input devices and sensors as well as the development of alternative control methods possible.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Journal
IEEE robotics & automation magazine