6533b872fe1ef96bd12d315e

RESEARCH PRODUCT

Comparison of KVP and RSI for Controlling KUKA Robots Over ROS

I. EriksenFilippo SanfilippoMathias Hauan ArboJan Tommy Gravdahl

subject

0209 industrial biotechnologySIMPLE (military communications protocol)Computer scienceFeedback controlInterface (computing)020208 electrical & electronic engineeringMotion control systemsRobot controllerResponse time02 engineering and technology020901 industrial engineering & automationRobot manipulatorsControl and Systems EngineeringControl theory0202 electrical engineering electronic engineering information engineeringRobotRobotics technologiesSimulation

description

In this work, an open-source ROS interface based on KUKAVARPROXY for control of KUKA robots is compared to the commercial closed-source Robot Sensor Interface available from KUKA. This comparison looks at the difference in how these two approaches communicate with the KUKA robot controller, the response time and tracking delay one can expect with the different interfaces, and the difference in use cases for the two interfaces. The investigations showed that the KR16 with KRC2 has a 50 ms response time, and RSI has a 120 ms tracking delay, with negligible delay caused by the ROS communication stack. The results highlight that the commercial inferface is more reliable for feedback control tasks, but the proposed interface gives read and write access to variables on the controller during execution, and can be used for simple motion and tooling control. The work reported in this paper was based on activities within centre for research based innovation SFI Manufacturing in Norway, and is partially funded by the Research Council of Norway under contract number 237900.

yearjournalcountryeditionlanguage
2020-01-01IFAC-PapersOnLine
https://doi.org/10.1016/j.ifacol.2020.12.2688