KUKA_FRI_from_WS_Proceedings_ICRA2010.pdf
Abstract—TheKUKAlightweightrobot(LWR)providesmanyuniquefeaturesforroboticresearchers.Togivefullaccesstothesefeatures,anewinterfacewasdevelopedthatgivesdirectlow-levelreal-timeaccesstotheKUKArobotcontroller(KRC)athighratesofupto1kHz.Ontheotherhand,allindustrial-strengthfeatures,like
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