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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Bibliographic Details
Published in:arXiv.org 2024-10
Main Authors: Huber, Martin, Mower, Christopher E, Ourselin, Sebastien, Vercauteren, Tom, Bergeles, Christos
Format: Article
Language:English
Subjects:
Robots
Online Access:Get full text
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Summary: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.
ISSN:2331-8422
DOI:10.48550/arxiv.2311.12709