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Can you please tell me your experience with KUKA LBR iiwa.
I've worked on them for 5 years now, they're pretty awesome in many aspects: Safety, Torque sensing, Hand-guiding, ease of integration in non-industrial setups, you don't need to buy packages for every protocol, etc.
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how deep we must know the java programming?
To start you need to know some programming (Variables and Types, Conditionals, Loops, functions, etc) and Object Oriented programming (Classes, Objects, etc.). If you ever programmer before, it's not very hard to learn.
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When compared to normal KRC4 controller programming. how is the programming experience with KUKA LBR iiwa.
Each one has pros and cons, or let's say conveniences and inconveniences. From the top of my head, and as aforementioned, KRL is less verbose and you can change your code on the fly directly from the smartPad. You can't do that on the LBR iiwa, you need to change your code on the sunrise Workbench editor each time then synchronize. You can get around some of that by using process data or file exchange, to update some parameters, but not code (I think).
On Java you have tons of libraries available online (communication protocols, XML/JSON parsers, etc.), you have much less in KRL.
The bigger a program/project on KRL the clunkier it becomes. In java with some good package management, you can keep your project tidy.