Control of KUKA KR 5 robot with a haptic device

Abstract

This paper presents a program interface for a robot control with a haptic device. A program was developed, which connects a PC and the haptic device using FireWire protocol, and by TCP/IP protocol with a KUKA KR 5 robot. This program's package also influences the movements of a robot and executes the program by signal processing. It enables an exchange of data between the robot controller and outside peripherials in real-time using Ethernet. The information between the server and a client is transferred in the form of a XML file. The emphasis of the presented paper is dedicated to the developement of the program's interface, which can be devided into three segments: the server program which runs on a PC and connects the PC with the haptic device using FireWire protocol, the developement of the client program, which runs on a robot computer (KRC Kuka Robot Controller) and a subprogram that runs on the server and connects the haptic device with a server. The program's interface enables data acquisition from the haptic device usingFireWire protocol, and a transfer of data from the server-program using the protocol TCP/IP to the KRC robot-controller.