Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar

Abstract— JOpenShowVar is a Java open-source crossplatform communication interface to Kuka industrial robots. This novel interface allows for read-write use of the controlled manipulator variables and data structures. JOpenShowVar, which is compatible with all Kuka industrial robots that use Kuka Robot Controller version 4 (KR C4) and Kuka Robot Controller version 2 (KR C2), runs as a client on a remote computer connected with the Kuka controller via Transmission Control Protocol/Internet Protocol (TCP/IP). Even though only soft real-time applications can be implemented, JOpenShowVar opens up to a variety of possible applications, making both the use of various input devices and sensors as well as the development of alternative control methods possible. Four case studies are presented to demonstrate the potential of JOpenShowVar. The first two case studies are openloop applications, while the last two case studies describe the possibility of implementing closed-loop applications. In...

• Type: Journal
• Year: 2015
• Where: RAM
• Authors: Filippo Sanfilippo, Lars Ivar Hatledal, Houxiang Zhang, Massimiliano Fago, Kristin Ytterstad Pettersen
• Keywords: RAM 2015, Robotics