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Implementation of a Communication Framework for Distributed Control of KUKA Lightweight Robotic Arms



Yvonne Stürz, Annika Eichler

This project contributes to the larger goal of controlling two KUKA Lightweight robots in a cooperative manipulation task.

The KUKA robotic arms are thereby controlled by lower-level impedance controllers. In order to use our own developed higher-level distributed control and estimation algorithms, a realtime-interface FRI (”Fast Robot Interface”) to the robots is used.

The goal of the project is to implement a communication framework to enable distributed cooperative control of the KUKA robots in real-time. This framework will consist of communication links between ROS nodes for the controller-estimators of each robot. The interface to the hardware will be realized over the real-time FRI in a ROS node. Furthermore, an interface to Matlab/Simulink will be implemented, where the controller-estimators are realized.

The implemented communication framework will be tested and its performance will be demonstrated in an experiment of cooperative transportation of an object.

The project consists of the following steps:
  • Familiarize with the involved hardware, the KUKA Lightweight robotic arms;
  • Familiarize with the software, the real-time interface FRI and the Robot Operating System (ROS);
  • Implement a communication framework using ROS nodes with interfaces to Matlab/Simulink for the local controllers and estimators;
  • Implement an interface via the FRI to the two KUKA Lightweight robots;
  • (If time permits) Demonstrate the framework in a cooperative manipulation task using provided distributed estimation and control algorithms;

Feel free to contact or for further information.

Weitere Informationen

Roy Smith

Art der Arbeit:
20% Theory and Design
60% Implementation and Testing
20% Documentation
Voraussetzungen: Electrical or mechanical engineering background. Notions of robotics. Notions of dynamical systems, control and estimation. Programming skills: Matlab, Simulink, ROS, C++.
Anzahl StudentInnen:
Status: done
Projektstart: September 2016