2017
Toward controlling a KUKA LBR IIWA for interactive tracking
ICRA 2017poster
In this paper we use KUKA's Fast Robot Interface (FRI) to design and implement a tracking controller on the Lightweight Robot (LBR) IIWA. We seek low latency, accurate and smooth tracking of the link positions to facilitate human interaction tasks. Focusing on a single joint and its low-level series…