I am looking for some infoprmation about the interface between the kuka robot and the OROCOS on RTAI! This seems to be done in the project under this website http://www.orocos.org/orocos/applications/krypton . Could anyone tell me about the structure of the system, the interface between the components and the way that the components connected by? Some materials about that are welcome!!

Thank you for any help in advance !