Asking about implementing ROS in KUKA Robot

asked 2018-10-19 10:55:29 -0600

Richard Christo
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Right now I am doing some preparation for my thesis project which is related to ROS and KUKA Robot. The main goal of my project is to do some improvement in controlling KUKA robot using ROS interface. The type of the robot is KR 6 ARC, and the controller is KPC 2 ed05. What I would like to ask is, is the TCP/IP driver which compatible for ROS has already installed in this robot? Or if it has not, where can I get that driver?

answered 2018-10-19 11:07:16 -0600

gvdhoorn
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You don't specifically ask about them, but at least the drivers in ros-industrial/kuka_experimental require certain options to be available on the robot controller.

In the case of kuka_rsi_hardware_interface, that would be RSI (Robot Sensor Interface).

In the case of kuka_eki_hardware_interface, that would be EKI (Ethernet Kuka Interface).

If you don't have any of those, the drivers will not work with your controller, regardless of which controller generation it is.

The RSI compatible driver has been tested with KR C2 controllers.

Note: there may be other drivers that can interface with KUKA KR Cx controllers, but as I don't use them I would not be able to write about them here.

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Thankyou for your answer sir, I will learn more about kuka_rsi_hardware_interface and kuka_eki_hardware_interface.

Richard Christo ( 2018-10-22 01:25:09 -0600 )edit

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