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Robot Control System<em>.</em>

Robot Control System

KR-RCS (Robot Control System)

Product overview

  • The robot control system consists of a high-level motion controller and low-level motor driver.
  • The motion controller handles functions such as kinematics, dynamics, trajectory generation, position control, force control, impedance control, collision detection, and direct teaching.
  • The KR-RTS can be offered in the following three forms:

1. A robot controller with pre-installed control software (an industrial PC with KR-RCS installed, enclosed in a controller case)
2. Control software only (the customer is responsible for providing a compatible PC to install the software)
3. Technology transfer of the control software (including source code, detailed documentation, and staff training)

Product specifications

OS
  • Linux (Preempt-rt kernel)
  • ROS2-compatible
  • EtherCAT communication
Kinematics & dynamics
  • Forward and inverse kinematics solver
    (Analytical and numerical solutions)
  • Dynamics solver for any type of robot arms
Position control
  • Model-based independent joint control
  • Computed torque control in JS & CS
Force control
  • Impedance control / Admittance control
  • Hybrid position/force control
Friction estimation
  • Friction estimation based on friction observer
  • Friction estimation based on friction model
Trajectory generation
  • S-curve-based trajectory generation
  • CS trajectory planning (Linear & circular trajectory)
  • Blending techniques
Collision detection
  • Collision detection using torque sensors
  • Sensorless collision detection
Direction teaching
  • Direct teaching in JS & CS
Calibration
  • Calibration using a laser tracker
  • Error corrections of DH parameters

* JS: Joint space, CS: Cartesian space

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