Control of KUKA KR 5 robot with a haptic device

2012 9th International Conference on Remote Engineering and Virtual Instrumentation (REV) Pub Date : 2012-07-04 DOI:10.1109/REV.2012.6293116

A. Glamnik, R. Šafarič

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引用次数: 4

Abstract

This paper presents a program interface for a robot control with a haptic device. A program was developed, which connects a PC and the haptic device using FireWire protocol, and by TCP/IP protocol with a KUKA KR 5 robot. This program's package also influences the movements of a robot and executes the program by signal processing. It enables an exchange of data between the robot controller and outside peripherials in real-time using Ethernet. The information between the server and a client is transferred in the form of a XML file. The emphasis of the presented paper is dedicated to the developement of the program's interface, which can be devided into three segments: the server program which runs on a PC and connects the PC with the haptic device using FireWire protocol, the developement of the client program, which runs on a robot computer (KRC Kuka Robot Controller) and a subprogram that runs on the server and connects the haptic device with a server. The program's interface enables data acquisition from the haptic device usingFireWire protocol, and a transfer of data from the server-program using the protocol TCP/IP to the KRC robot-controller.

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用触觉装置控制KUKA KR 5机器人

本文提出了一种用触觉装置控制机器人的程序接口。开发了一个程序，通过FireWire协议将PC机与触觉设备连接起来，并通过TCP/IP协议与KUKA KR 5机器人连接起来。该程序包还影响机器人的运动，并通过信号处理执行程序。它可以使用以太网在机器人控制器和外部外设之间实时交换数据。服务器和客户机之间的信息以XML文件的形式传输。本文的重点是程序接口的开发，可分为三个部分:在PC机上运行的服务器程序，使用FireWire协议将PC机与触觉设备连接起来;在机器人计算机(KRC库卡机器人控制器)上运行的客户端程序的开发;在服务器上运行的子程序，将触觉设备与服务器连接起来。该程序的接口允许使用firewire协议从触觉设备获取数据，并使用TCP/IP协议将数据从服务器程序传输到KRC机器人控制器。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2012 9th International Conference on Remote Engineering and Virtual Instrumentation (REV)

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