Comments (1)
Current libiiwa
implementation relies on the KUKA Standard and Servoing interfaces:
- Standard interface: A software interface that allows viewing the current state of the robot, setting parameters, and programming discontinuous blocking or non-blocking motion sequences.
- Servo (or servoing) interface: A real-time software interface that allows the implementation of non-deterministic applications and continuous and smooth motion composed of multiple points. This interface requires the presence of some KUKA-specific software libraries in the cabinet (used by
iiwa_stack
).
Neither of them allows the application of torque for robot control.
For this, it is necessary to rely on the KUKA Fast Robot Interface (FRI), a fast robot interface that enables access to the robot controller from an external computer in real time. FRI can only be controlled in C++ (KUKA Fast Robot Interface C++ SDK) and requires JAVA to initialize the FRI interface at robot (cabinet) side.
The idea is to eventually add FRI support to libiiwa
... although I don't know for when
from libiiwa.
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from libiiwa.