KUKAVarProxy open-sourced

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G.A. vd. Hoorn - 3ME

Jan 12, 2018, 9:59:41 AM1/12/18
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Might be of interest to members of this list.

See [1].

Github repository [2].

The code is not yet there though.


[1] https://www.imts.eu/open-sourcing-kukavarproxy/
[2] https://github.com/ImtsSrl/KUKAVARPROXY

Brett Hemes

Jan 12, 2018, 10:10:40 AM1/12/18
to swri-ros...@googlegroups.com
Very cool indeed.  Thanks for the heads up Gijs!  I will keep an eye on the repo for sure.

Ivar Eriksen

Jan 15, 2018, 6:56:48 AM1/15/18
to swri-ros...@googlegroups.com
Thanks for the info, I've been waiting for that announcement. 

AFAIK there are currently two packages  for controlling KUKA robots using KUKAVARPROXY, [1] and [2]. I have not tested [1], but wrote [2] as part of my master thesis. While it works, in that it reaches all points in a trajectory, the motions are a bit jerky. I think this is due to the KRC interpolator only seeing one step ahead, and therefore plans a complete stop at the current goal. One solution to this could be buffering more points on the KRC, but I've not had the time to try this.  

Also, while the issue tracker for jOpenShowVar hints to KUKAVARPROXY only working on the KRC4, it works on a KRC 2 with similar performance as to a KRC 4. [2] is only tested on a KRC 2. The readme for [1] only claims support for a KRC 4, but I see no reason it should not work on a KRC 2. 


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