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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.

V nalogi je predstavljen programski vmesnik, ki omogoča vodenje robota s pomočjo haptične naprave. Razvit je bil program, ki se izvaja na osebnem računalniku in povezuje haptično napravo preko Firewire protokola z robotom KUKA KR 5 preko TCP/IP protokola. Za komuniciranje robotskega računalnika KRC z osebnim računalnikom je bilo potrebno izdelati server, ki se izvaja na osebnem računalniku in program klient, ki se izvaja na robotskem računalniku. Za prenos podatkov v robotski računalnik se je uporabil programski paket KUKA RSI (Robot Sensor Interface), ki ima funkcijo obdelave signalov v robotskem krmilniku v realnem času in lahko obenem vpliva tudi na gibe robota ali izvršitev programa s pomočjo obdelave signalov. Omogoča izmenjavo podatkov v realnem času med robotskim krmilnikom in zunanjo periferijo preko Etherneta. Podatki med serverjem in klientom se prenašajo v obliki XML datoteke. Programski vmesnik omogoča zajemanje oz. pridobivanje podatkov od haptične naprave preko firewire potokola ter prenos podatkov od server programa preko protokola TCP/IP na robotski krmilnik KRC. In this master thesys work, the program interface for a robot control with a haptic device, is presented. The program, which connects a PC and the haptic device by a FireWire protocol and by TCP/IP protocol with a robot KUKA KR 5, was developed. A server, which runs on the PC and a client, which runs on a robot computer are needed for the communication between the robot computer KRC and a PC. The program package KUKA RSI (robot sensor interface), which processed the signals of robotic controller in the real time, was used or the data transfer from the PC to the robot computer. This program package also influences the movements of a robot and execute the program by signal processing. It enables an exchange of data between the robot controller and outside peripherials in the real time by Ethernet. The information between the server and a client is transferred in the form of XML file.