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I have already contacted Kuka, but the reaction is cold and short.
If it is not "PlugandPlay" then it is too difficult for these guys.
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Those guys have to support their products.
The product is the robot mechanic with the appropriate controller used by professionals, not a single outdated mechanic for a project of a hobbyist.
May be You can ask Colin Furze https://www.youtube.com/user/colinfurze. He has amazing ideas.