KUKA External Control

Features

• Activate KUKA robotics application in AUT mode;
• Update KUKA Controller parameters (e.g. stiffness, damping);
• Fetch robot information which is not available in some FRI packages (e.g. external force and torque applied on the flange)

Performance

• Latency and bandwidth [TODO]
  • Add timestamp in packets.
  • Synchronize/Calibrate time between PC and Cabinet.

Structures

The KUKA_UDP on the PC side implements

• ExternalController which activates KUKA robotics applications;
• UDPClient which communicates with UDP Parameter Server (ControlParamUpdater) on KUKA cabinet.

protocol.md describes the protocol used for communication.

Note: FRI Client should not exit when FRI session state drops from COMMANDING_ACTIVE.

Credits

• FRI configuration in ControlParamUpdater.java is taken from LBRServer.java by lbr-stack