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arXiv · 2011.02398

A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy

Kevin Zhang·Mohit Sharma·Jacky Liang·Oliver Kroemer
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Abstract

We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into combinations of trajectory generators, feedback controllers, and termination handlers. Low-level control is implemented in C++ and runs at $1$kHz, and high-level commands are exposed in Python. In addition, external sensor feedback, like estimated object poses, can be streamed to the low-level controllers in real time. This modular approach allows us to quickly prototype new control methods, which is essential for research applications. We have applied this framework across a variety of real-world robot tasks in more than $5$ published research papers. The framework is currently shared internally with other robotics labs at Carnegie Mellon University, and we plan for a public release in the near future.

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Kevin Zhang, Mohit Sharma, Jacky Liang, Oliver Kroemer. 2020-11-04. A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy. https://arxiv.org/abs/2011.02398

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