LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots

The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo simulation and for...

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Vydané v:arXiv.org
Hlavní autori: Huber, Martin, Mower, Christopher E, Ourselin, Sebastien, Vercauteren, Tom, Bergeles, Christos
Médium: Paper
Jazyk:English
Vydavateľské údaje: Ithaca Cornell University Library, arXiv.org 08.10.2024
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Robots
ISSN:2331-8422
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Popis
Shrnutí:The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo simulation and for communication with real hardware.
Bibliografia:SourceType-Working Papers-1
ObjectType-Working Paper/Pre-Print-1
content type line 50
ISSN:2331-8422
DOI:10.48550/arxiv.2311.12709