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The trend towards industrialization and digitalization has led more and more companies to deploy robots in their manufacturing facilities. In the field of collaborative robotics, the KUKA LBR iiwa is one of the benchmark robots. To communicate these robots with different components and generate an interoperability infrastructure, the software libraries provided by Robot Operating System are now widely widespread. However, the latency that such communication between devices often generates, diminishes the potential of machine learning control techniques, such as reinforcement learning, when the robot must react swiftly in an unstructured environment. This paper presents a scalable and unified control system that supports both Robot Operating System and direct control and outperforms current control frameworks in terms of exploiting the functionalities of the KUKA LBR iiwa. The framework's documentation can be found at https://libiiwa.readthedocs.io and its source code is available on GitHub at https://github.com/Toni-SM/libiiwa.
|Title of host publication||2023 IEEE/SICE International Symposium on System Integration, SII 2023|
|Publication date||15 Feb 2023|
|Publication status||Published - 15 Feb 2023|
|Event||2023 IEEE/SICE International Symposium on System Integration, SII 2023 - Atlanta, United States|
Duration: 17 Jan 2023 → 20 Jan 2023
|Conference||2023 IEEE/SICE International Symposium on System Integration, SII 2023|
|Period||17/01/2023 → 20/01/2023|
|Series||2023 IEEE/SICE International Symposium on System Integration, SII 2023|
Bibliographical noteFunding Information:
This study was partially financed by European Union’s SMART EUREKA programme under grant agreement S0218-chARmER, Innovation Fund Denmark (Grant no. 9118-00001B), and by H2020-WIDESPREAD project no. 857061 “Networking for Research and Development of Human Interactive and Sensitive Robotics Taking Advantage of Additive Manufacturing – R2P2” 1Antonio Serrano-Muñoz is with the Faculty of Engineering, Mondragon Unibertsitatea, Arrasate, Spain email@example.com 2´ñigo Elguea-Aguinaco is with the Faculty of Engineering, Mon-dragon Unibertsitatea, Arrasate, Spain firstname.lastname@example.org, email@example.com 3Dimitris Chrysostomou is with the Faculty of Engineering and Science, Aalborg University, Aalborg, Denmark firstname.lastname@example.org 4Simon Bøgh is with the Faculty of Engineering and Science, Aalborg University, Aalborg, Denmark email@example.com 5Nestor Arana-Arexolaleiba is with the Faculty of Engineering, Mon-dragon Unibertsitatea, Arrasate, Spain firstname.lastname@example.org
© 2023 IEEE.
- Collaborative Robot
- kuka iiwa
- Reinforcement Learning (RL)
- Software libraries
- Service robots
- Operating systems
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- 2 Finished
R2P2: Networking for Research and Development of Human Interactive and Sensitive Robotics taking advantage of Additive Manufacturing
01/01/2020 → 31/12/2022