I am looking for some infoprmation about the interface between the kuka robot and the OROCOS on RTAI! This seems to be done in the project under this website http://www.orocos.org/orocos/applications/krypton . Could anyone tell me about the structure of the system, the interface between the components and the way that the components connected by? Some materials about that are welcome!!
Thank you for any help in advance !
Two Cooperating Robots
On Tue, 4 Dec 2007, mhr07 wrote:
> I am looking for some infoprmation about the interface between the kuka robot
> and the OROCOS on RTAI! This seems to be done in the project under this
> website http://www.orocos.org/orocos/applications/krypton . Could anyone tell
> me about the structure of the system, the interface between the components
> and the way that the components connected by? Some materials about that are
> welcome!!
>
The Krypton 6D camera provides measurements of the LEDs on one of the robot
tools via ethernet. This is captured by the robot control computer using
RTnet, and converted into a feedforward signal for the other robot's motion
controller. Both robot controllers run RTAI, with the Cartesian motion control
component that you can find in Orocos. It's really not more complicated
than that :-) The key factor was the fact that we got a Krypton system that
provides raw measurements via ethernet, which was not a standard option at
that time. It now is, in their new version (Krypton was acquired by
Metris.com two years ago.)
Herman
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