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arXiv · 2311.12709

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

Martin Huber·Christopher E. Mower·Sebastien Ourselin·Tom Vercauteren·Christos Bergeles
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Abstract

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.

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Martin Huber, Christopher E. Mower, Sebastien Ourselin, Tom Vercauteren, Christos Bergeles. 2023-11-21. LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots. https://doi.org/10.21105/joss.06138

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