On Tue, 26 Oct 2010, fast_robotik [..] ... wrote:

> Does anyone has already use Orocos to drive a branding robot like ABB, Fanuc, etc...

We have a long history of "hacking" the hardware of KUKA and other robots,
in order to be able to use them in our advanced research applications. But
these are "hacks". This situation has changed the last year, and is going
to change even more, because industrial manufacturers are offering
commercially supported interfaces to their robots:
- KUKA has the RSI and FRI interfaces, both of them supported in Orocos via
ethernet
- ABB is about to release a realtime Linux interface to their new
generation of controller, also via an ethernet link

Herman

On Tue, Oct 26, 2010 at 5:19 AM, <fast_robotik [..] ...> wrote:

> Does anyone has already use Orocos to drive a branding robot like ABB,
> Fanuc, etc...
>

Well, it depends on what you mean by "driving", and the programming
interface that a given robot manufacturer exposes. If you have a hardware
API that is expressive enough to do what you want, you can wrap that up in
an Orocos interface. This was done by colleagues at my previous affiliation
with Staübli arms (Institute of Industrial and Control Engineering, UPC),
and I believe has been done by many others. The people at KUL have hacked
Kuka arms in the past (I'll leave the gory details to them ;) ) and provided
an Orocos interface to access the hardware. So the answer to your question
seems to be "yes".

Best,

Adolfo

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