Setup and Interfacing of a KUKA Robotics Lab

dc.contributor.advisor	Gravdahl, Jan Tommy
dc.contributor.advisor	Arbo, Mathias Hauan
dc.contributor.author	Eriksen, Ivar
dc.date.accessioned	2018-03-16T15:00:58Z
dc.date.available	2018-03-16T15:00:58Z
dc.date.created	2017-12-17
dc.date.issued	2017
dc.identifier	ntnudaim:16482
dc.identifier.uri	http://hdl.handle.net/11250/2490915
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.
dc.language	eng
dc.publisher	NTNU
dc.subject	Kybernetikk og robotikk
dc.title	Setup and Interfacing of a KUKA Robotics Lab
dc.type	Master thesis