LBR-Stack: ROS 2 and Python Integration of KUKA FRI forMed 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 communication with real hardware.<br/>
Authors
- Christos Bergeles (ORCID: https://orcid.org/0000-0002-9152-3194)
- Tom Vercauteren (ORCID: https://orcid.org/0000-0003-1794-0456)
- Martin Huber (ORCID: https://orcid.org/0000-0003-4603-6773)
- Christopher E. Mower (ORCID: https://orcid.org/0000-0002-3929-9391)
- Sébastien Ourselin (ORCID: https://orcid.org/0000-0002-5694-5340)
Institutions
- King's College London (GB)
Publication Details
- Journal
- The Journal of Open Source Software
- Published
- 2024-11-15
- DOI
- https://doi.org/10.21105/joss.06138
- Citations
- 6
- Primary Topic
- Robotic Path Planning Algorithms
- Type
- article
- Field-Weighted Citation Impact
- 1.50
Funders
- Government of the United Kingdom
- European Commission
- Engineering and Physical Sciences Research Council