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Software Library for KUKA Iiwa Robot to Improve the Efficiency of Human-Robot Interaction in Robotic Medical Applications

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Interactive Collaborative Robotics (ICR 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13719))

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Abstract

The article presents a client-server library for the interaction with the KUKA LBR iiwa collaborative robot via a remote personal computer (PC) in a medical-oriented collaborative robotic system (CRS). An intuitive high-level library implemented in the MathWorks MATLAB software framework includes a server for the KUKA iiwa controller, and a client-based application. The library has more than 30 functions for such operations as calculating forward and inverse kinematics, robot control in Cartesian space, path planning, graphical output, and feedback. The developed software runs on a remote computer connected to the controller of the robot via the TCP/IP protocol. The paper presents the requirements to the software related to the systems and strategies used to control the CRS, and the safety of collaborative human-robot interaction (HRI). The article also presents the description of the technical implementation of the library, its architecture, the scheme of “robot – remote PC” communication, software methods used for interaction with the robot, as well as data flow diagrams (DFDs) for the executable code. As an example of controlling the robot using the developed library, we show the results of a practical experiment: the calculation of the robot’s inverse kinematics and the path coordinates on a given trajectory.

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Acknowledgment

The study has been performed under the financial support by the Ministry of Science and Higher Education within the State Task “Research” (basic fundamental) project №FSWW-2020-0014, and by V.A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences (ICS RAS) according to the state project.

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Authors and Affiliations

  1. National Research Tomsk Polytechnic University, 30, Lenina Avenue, 634050, Tomsk, Russia

    Olga Gerget, Andrey Kravchenko & Tatiana Lysunets

  2. V.A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, 65 Profsoyuznaya Street, 117997, Moscow, Russia

    Roman Meshcheryakov, Rinat Galin, Daniiar Volf & Mark Mamchenko

Authors
  1. Olga Gerget
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  2. Andrey Kravchenko
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  3. Roman Meshcheryakov
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  4. Tatiana Lysunets
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  5. Rinat Galin
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  6. Daniiar Volf
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  7. Mark Mamchenko
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Corresponding author

Correspondence to Rinat Galin .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

  3. Guangdong University of Petrochemical Technology (West Gate), Maoming, China

    Zhen Xiantong

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Gerget, O. et al. (2022). Software Library for KUKA Iiwa Robot to Improve the Efficiency of Human-Robot Interaction in Robotic Medical Applications. In: Ronzhin, A., Meshcheryakov, R., Xiantong, Z. (eds) Interactive Collaborative Robotics. ICR 2022. Lecture Notes in Computer Science, vol 13719. Springer, Cham. https://doi.org/10.1007/978-3-031-23609-9_25

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  • DOI: https://doi.org/10.1007/978-3-031-23609-9_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-23608-2

  • Online ISBN: 978-3-031-23609-9

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