Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar

Abstract

JOpenShowVar is a Java open-source cross-platform communication interface to Kuka industrial robots. This novel interface allows for read-write use of the controlled manipulator variables and data structures. JOpenShowVar, which is compatible with all the Kuka industrial robots that use KUKA Robot Controller version 4 (KR C4) and KUKA Robot Controller version 2 (KR C2), runs as a client on a remote computer connected with the Kuka controller via TCP/IP. Even though only soft real-time applications can be implemented, JOpenShowVar opens up to a variety of possible applications, making the use of various input devices and sensors as well as the development of alternative control methods possible.