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Control of KUKA KR 5 robot with a haptic device.
- Source :
- 2012 9th International Conference on Remote Engineering & Virtual Instrumentation (REV); 1/ 1/2012, p1-7, 7p
- Publication Year :
- 2012
-
Abstract
- 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. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISBNs :
- 9781467325400
- Database :
- Complementary Index
- Journal :
- 2012 9th International Conference on Remote Engineering & Virtual Instrumentation (REV)
- Publication Type :
- Conference
- Accession number :
- 86520140
- Full Text :
- https://doi.org/10.1109/REV.2012.6293116