Setup and Interfacing of a KUKA Robotics Lab
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To evaluate the feasibility of controlling KUKA robots via KUKAVARPROXY, theperformance of two libraries for communicating with KUKAVARPROXY is inves-tigated. It is shown that the BoostCrossCom C++ library and the jOpenShowVarJava library have comparable performance on a KUKA KRC 2. Both librarieshave a mean access time of 3ms for single connections, increasing too 12ms for 5simultaneous connections. To interface with a gantry mounted KR 16 the existing ROS Industrial driveris expanded to control mathematically linked external axes. The raw control thatRSI allows can be a safety hazard for novice users, therefore a ROS driver usingBoostCrossCom is implemented. ROS interfaces for reading data from a Schunk FTC-50-80 force-torque sensoris developed using both RSI and BoostCrossCom. In order to control a SchunkSWS-020 tool change system from ROS, a service node using BoostCrossCom iscreated.