KRC2 with Kr-16, External Control

  • Hello, I am new to the KUKA environment and my goal is to externally control a KUKA KR-16 with KRC2 in a closed-loop system.


    While I am not familiar with its capabilities beyond manual and automatic modes, the essence of my project is to enable an external controller to have full control over the movement of the arm. The external controller, which could be an STM32 or a similar device, would be able to process data from sensors and provide instructions to the KRC2 on how to move the arm.

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  • The RSI appears to be a promising solution for the "Sensor" component of my project, but I'm not sure if it can handle the "external controller" aspect as well.


    Can you provide more details on how I can use RSI for this purpose and what additional requirements I need to consider?

  • just read the RSI manual. basically RSI is used when one needs to control or influence robot motions in real time (while robot is doing something). for example this allows robot to use sensor to follow encountered "terrain" features. bit instead of from sensor, data can come from external controller.


    what is that you really need?

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • I require full real-time movement control of a robot using an external controller that sends signals (such as coordinates) to direct its movements.


    The robot does not need to make any decisions, only to move from Point A to Point B, for instance. However, Point A and Point B will continuously change in real-time, and the robot must respond instantly with minimal delay.


    In a closed loop system, for example, the arm will be "the output", and will react to changes.

  • I require full real-time movement control of a robot using an external controller that sends signals (such as coordinates) to direct its movements.

    That pretty much requires RSI, then. Note, you still have to create a moderately intelligent RSI program in the robot to parse incoming commands and execute them. You'll also have to handle all the PID algorithms yourself, as RSI bypasses almost all the existing ones in the robot in favor of giving you direct control. For example, RSI runs on a 12ms (sometimes 4ms, but usually 12) time cycle. As such, any "move" command issued to RSI tries to complete within 12ms. So if you send a 100mm value to RSI, the robot will attempt to move 100mm... in 12ms, or 8.3 meters/sec. This is physically impossible, but the robot will try... and fault. Ditto for handling the accel/decel ramps at the start/end of motions.

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