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

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.

Under review at Journal of Open Source Software (JOSS)

References in corpus (2)

• Robot Operating System 2: Design, Architecture, and Uses In The Wild
• Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

Cited by in corpus (1)

• Streamlining stereo differentiable rendering for marker-free real-time tracking of surgical robots