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KUKA LBR iiwa real-time control

asked 2014-12-01 06:30:29 -0500

Robert Krug gravatar image

updated 2014-12-01 06:36:02 -0500


I want to setup the new KUKA LBR iiwa arm for (soft) real-time control (at around 100 Hz for now) in Gazebo and on the actual robot. I was thinking of using ros_control and I'm interested in weather somebody already has a similar setup (HW-interface, URDF/SDF model ...) or is working on it since I couldn't find anything for to the LBR iiwa online.

Thanks and all the best,


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Update: I made a URDF description of the arm which can be found here. I am still interested in hints for the control setup though ...

Robert Krug gravatar image Robert Krug  ( 2014-12-05 18:45:30 -0500 )edit

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answered 2015-01-26 03:39:09 -0500

marcoesposito1988 gravatar image

Hi Robert,

have you seen this?

looks like it is currently used, so I assume it is in a working state:

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Thanks, we have a similar solution using the Connectivity Servoing and ros_control right now. One of the issues we have, is that we need velocity control for which there's no interface provided by KUKA. Any input/discussion on how to achieve this would be appreciated.

Robert Krug gravatar image Robert Krug  ( 2015-02-11 15:18:12 -0500 )edit


I'm currently trying to use the first link, but I get stuck at running the Kuka Hardware Manager. It says "Assignment not possible while KS is running", do you guys have the same problem? If you're using the same thing, that is?

Hououin Kyouma gravatar image Hououin Kyouma  ( 2015-04-21 23:31:21 -0500 )edit

answered 2015-01-23 03:20:14 -0500

Adolfo Rodriguez T gravatar image

updated 2015-02-04 05:01:12 -0500

Even if there is no open-source ros_control bindings for the LBR iiwa, you can still make good progress on your own. For the Gazebo bindings, try to leverage the existing plugins available in the gazebo_ros_control package. For the hardware bindings, you will have to expose to a hardware_interface::RobotHW the raw data made available by the manufacturer's API for at least reading state and writing commands. You might also want to handle emergency or protective stops.

Update: there is this open-source alternative, just out of the oven:

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Yes, we're currently working on a hardware interface to connect to the robot which can be found on the repository mentioned above (under heavy development right now though).Thanks for the link, it seems to be for the previous model, the LWR 4 though, not for the new LBR iiwa.

Robert Krug gravatar image Robert Krug  ( 2015-02-11 15:10:27 -0500 )edit

True, for the LWR 4+. Just to say, we found more useful creating a custom plugin (of course, using the gazebo_ros_control plugin as a template) to add stuff to the sim interface, see our suggested class hierarchy:

carlosjoserg gravatar image carlosjoserg  ( 2015-04-22 05:01:50 -0500 )edit

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Asked: 2014-12-01 06:30:29 -0500

Seen: 3,641 times

Last updated: Feb 04 '15