Extension To KUKA arm

  • 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.

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  • 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.

  • most likely Remote Center of Motion

    Human Verification


    A family of RCM mechanisms: Type synthesis and kinematics analysis
    The remote center-of-motion (RCM) mechanism plays an important role in surgery robotics, exoskeleton robots, haptic devices, pointing mechanisms and s…
    www.sciencedirect.com


    for example:

    3-Figure2-1.png

    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

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