Interfacing to the KUKA industrial robots, e.g., KR AGILUS, KR 210, uses the networking communication provided by the KUKA.RobotSensorInterface (RSI) extension.

Interfacing to the KUKA lightweight cobots, e.g., LBR iiwa, LBR Med, is based on the KUKA Sunrise.FRI (Fast Robot Interface) extension.

KUKA RSI

This interface applies to 6-Degree-Of-Freedom (6-DOF) industrial robots, such as the KUKA KR 5, KR AGILUS, KR 210. This interface uses the KUKA.RSI toolbox to send Cartesian position correction, or Cartesian velocity, or joint position correction, or joint velocity commands, depending on the control mode, to a 6-DOF KUKA robot and outputs the robot measured Cartesian positions, joint angles and gear torques for each joint.

KUKA LBR FRI Timebase

This interface applies to the KUKA 7-Degree-Of-Freedom (7-DOF) cobots, such as the KUKA LBR iiwa 7, LBR iiwa 14, LBR Med 7, and LBR Med 14. It is based on the KUKA Sunrise.FRI (Fast Robot Interface) extension and provides support for the joint position, joint torque, wrench, Cartesian pose (quaternion), and Cartesian pose (matrix) command modes, with a 1 ms update period.