kuka_rsi_driver

This repository provides a ros2_control based driver for kuka industrial robot arms using the RSI protocol.

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NOTE

This driver was tested on a limited set of robots (see Tested with section), but has to be considered experimental. In particular, the chosen communication structure should be more robust against disturbances, but is not thoroughly vetted.

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Packages in the Repository

• kuka_rsi_driver: The ros2_control hardware interface for communicating with the robot.
• kuka_rsi_controllers: Controllers for interfacing with vendor-specific functions of the robot.
• kuka_rsi_interfaces: Interface definitions used in kuka_rsi_controllers.

Getting Started

This driver only provides an implementation of the robot realtime communication, but no specific robot support package. Take a look at the documentation for informations on how to get started and integrate it into an existing setup.

Features

This driver provides the following features:

• Joint position control and feedback.
• Publishing of joint torques.
• Publishing of Cartesian TCP pose.
• Speed scaling using slider on teach pendant (see KRL $OV_PRO variable).
• Robust fully asynchronous real-time communication.

Tested With

So far, the driver was tested with the following robot models:

• Agilus KR 10 R900 sixx (KR C4 Controller)
• IONTEC KR50 R2100 (KR C5 Controller)

Acknowledgements

Development of this driver was in parts supported by the project "GANResilRob - Generative Adversarial Networks and Semantics for Resilient, Flexible Production Robots", funded by the German Federal Ministry for Economic Affairs and Climate Action.