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Toni-SM avatar Toni-SM commented on August 23, 2024

Hi @CodingCatMountain

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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