I wanted to add 3Dof RCM manipulator to Kuka arm. The manipulator has 3 Nema 17 stepper motors, an FT sensor, and a Camera. I am not sure which microcontroller I should use or if there is another way to integrate all these components with KUKA iiwa directly without any microcontroller.
Extension To KUKA arm
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Mit Patel -
February 12, 2024 at 9:46 AM -
Thread is Unresolved
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Nation
February 12, 2024 at 10:43 AM Approved the thread. -
I wanted to add 3Dof RCM manipulator to Kuka arm.
RCM?
I am not sure which microcontroller I should use or if there is another way to integrate all these components with KUKA iiwa directly without any microcontroller.
I haven't done it myself, but I had a colleague who interfaced an iiWA Sunrise controller to an Arduino using simple TCP/IP socket messaging. This worked since the Sunrise OS allows you to program this in Java the same as if you were doing it on a regular PC.
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most likely Remote Center of Motion
A family of RCM mechanisms: Type synthesis and kinematics analysisThe remote center-of-motion (RCM) mechanism plays an important role in surgery robotics, exoskeleton robots, haptic devices, pointing mechanisms and s…www.sciencedirect.comfor example:
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