JOpenShowVar: An open-source cross-platform communication interface to Kuka robots

摘要

This paper introduces JOpenShowVar, a Java open-source cross-platform communication interface to Kuka robots that allows for reading and writing variables and data structures of the controlled manipulators. This interface, which is compatible with all Kuka robots that use KR C4 and previous versions, runs as a client on a remote computer connected with the Kuka controller via TCP/IP. JOpenShowVar opens up to a variety of possible applications making it possible to use different input devices, sensors and to develop alternative control methods. To show the potential of the proposed interface, two case studies are presented. In the first one, JOpenShowVar is used to control a Kuka KR 6 R900 SIXX (KR AGILUS) robot with an Android mobile device. In the second case study, the same manipulator is controlled with a Leap Motion Controller that supports hand and finger motions as input without requiring contact or touching. Related simulations are carried out to validate efficiency and flexibility of the proposed communication interface.