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dc.contributor.authorSerrano Muñoz, Antonio
dc.contributor.authorElguea, Íñigo
dc.contributor.authorArana-Arexolaleiba, Nestor
dc.contributor.otherChrysostomou, Dimitrios
dc.contributor.otherBogh, Simon
dc.date.accessioned2023-03-02T13:01:37Z
dc.date.available2023-03-02T13:01:37Z
dc.date.issued2023
dc.identifier.isbn979-8-3503-9868-7en
dc.identifier.issn2474-2325en
dc.identifier.otherhttps://katalogoa.mondragon.edu/janium-bin/janium_login_opac.pl?find&ficha_no=170350en
dc.identifier.urihttps://hdl.handle.net/20.500.11984/6030
dc.description.abstractThe trend towards industrialization and digitalization has led more and more companies to deploy robots in their manufacturing facilities. In the field of collaborative robotics, the KUKA LBR iiwa is one of the benchmark robots. To communicate these robots with different components and generate an interoperability infrastructure, the software libraries provided by Robot Operating System are now widely widespread. However, the latency that such communication between devices often generates, diminishes the potential of machine learning control techniques, such as reinforcement learning, when the robot must react swiftly in an unstructured environment. This paper presents a scalable and unified control system that supports both Robot Operating System and direct control and outperforms current control frameworks in terms of exploiting the functionalities of the KUKA LBR iiwa. The framework's documentation can be found at https://libiiwa.readthedocs.io and its source code is available on GitHub at https://github.com/Toni-SM/libiiwa.es
dc.description.sponsorshipComisión Europeaes
dc.language.isoengen
dc.publisherIEEEen
dc.rights© 2023 IEEEen
dc.subjectSoftware librariesen
dc.subjectService robotsen
dc.subjectOperating systemsen
dc.subjectSource codingen
dc.subjectCollaborationen
dc.subjectSystem integrationen
dc.subjectSoftwareen
dc.titleA Scalable and Unified Multi-Control Framework for KUKA LBR iiwa Collaborative Robotsen
dcterms.accessRightshttp://purl.org/coar/access_right/c_f1cfen
dcterms.source2023 IEEE/SICE International Symposium on System Integrations (SII)en
local.contributor.groupRobótica y automatizaciónes
local.description.peerreviewedfalseen
local.identifier.doihttps://doi.org/10.1109/SII55687.2023.10039308en
local.relation.projectIDinfo:eu-repo/grantAgreement/EC/SMART EUREKA/S0218/EU/Assistive Robotic Disassembly System for Recycling/chARmERen
local.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/857061/EU/Networking for research and development of human interactive and sensitive robotics taking advantage of additive manufacturing/R2P2en
local.embargo.enddate2025-02-15
local.contributor.otherinstitutionhttps://ror.org/04m5j1k67es
local.source.detailsAtlanta. 17-20 January,en
oaire.format.mimetypeapplication/pdf
oaire.file$DSPACE\assetstore
oaire.resourceTypehttp://purl.org/coar/resource_type/c_c94fen
oaire.versionhttp://purl.org/coar/version/c_b1a7d7d4d402bcceen


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