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

Huber, Martin, Mower, Christopher E., Ourselin, Sebastien, Vercauteren, Tom, Bergeles, Christos

arXiv.org Artificial IntelligenceNov-21-2023

The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI) (Schreiber et al., 2010). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med7/14 and KUKA LBR IIWA7/14 robots in the Gazebo simulation (Koenig & Howard, 2004) and for communication with real hardware. A demo video can be found here. An overview of the software architecture is shown in Figure 2. At the LBR-Stack's core are two packages: fri: Integration of KUKA's original FRI client library into CMake.

lbr-stack, ro 2, robot, (15 more...)

arXiv.org Artificial Intelligence

2311.12709

Country: Europe > United Kingdom > England > Greater London > London (0.05)

Genre: Research Report (0.50)

Industry: Health & Medicine (0.30)

Technology: Information Technology > Artificial Intelligence > Robots (1.00)

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