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