Overview
lwr-controller is a control interface for Kuka arm based on softMotion. It uses FRI (Fast Research Interface) to communicate with the controller.
lwrc-genom is the control part.
lwri-genom is the interface.
The main idea is to use trajectories to control the robots. It uses softMotion trajectories, but other trajectories can be approximated. Cartesian and join trajectories are accepted. lwri can also compute simple trajectories and then execute them.
By default the system is in simulation mode, so it can be easily tested.
Members
Project administrator: Daniel Sidobre
Developer: Anthony Mallet, Antonio Franchi, Arnaud Degroote, Aurélie Clodic, Burak Yuksel, Christelle Ecrepont, Daniel Sidobre, Davide Bicego, Florent Lamiraux, François Ingrand, Guilhem Buisan, Guilhem Saurel, Hermes Tello Chavez, Joseph Mirabel, Jules Waldhart, Jérôme Manhes, Kévin Desormeaux, Mahmoud Hamandi, Malik Ghallab, Marco Tognon, Markus Ryll, Martin Jacquet, Matthieu Herrb, Michele Furci, Nicolas Mansard, Nicolas Staub, Olivier Roussel, Olivier Stasse, Patrick Danes, Pierre Narvor, Pierrick Koch, Quentin Sable, Rohan Budhiraja, Simon Lacroix, Victor Arellano, Yannick Riou