LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots

The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo simulation and for...

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Bibliographic Details
Main Authors:	Huber, Martin, Mower, Christopher E, Ourselin, Sebastien, Vercauteren, Tom, Bergeles, Christos
Format:	Journal Article
Language:	English
Published:	08-10-2024
Subjects:	Computer Science - Robotics
Online Access:	Get full text
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Description
Summary:	The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo simulation and for communication with real hardware.
Bibliography:	10.5281/zenodo.13897377
DOI:	10.48550/arxiv.2311.12709