viam-kuka

README

Viam KUKA Module

This is a Viam module for KUKA's family of industrial arms. This module provides a general framework for operating any compatible Kuka arm. This includes Kuka arm/controllers that use a TCP client connection and Kuka's EKI Manager.

This viam-kuka module is particularly useful in applications that require a Kuka arm to be operated in conjunction with other resources (such as cameras, sensors, actuators, CV) offered by the Viam Platform and/or separate through your own code.

As an example, a recent demo was created utilizing a Kuka Arm, an intelrealsense RGB-D camera, a modbus connection to a PLC and computer vision (YOLOv8) to create a mobile, face-tracking robot on the lookout for PPE equipment violators.

[!NOTE] For more information on modules, see Modular Resources.

Configure your KUKA Arm

[!NOTE] Before configuring your Kuka Arm, you must add a machine.

Navigate to the CONFIGURE tab of your machine’s page in the Viam app. Click the + icon next to your machine part in the left-hand menu and select Component. Select the arm type, then search for and select the arm / viam-kuka model. Click Add module, then enter a name or use the suggested name for your arm and click Create.

On the new component panel, copy and paste the following attribute template into your arm’s attributes field:

{
  "ip_address": "0.0.0.0",
  "port": 1234,
  "model": "S1",
  "safe_mode": true,
  "joint_speed": 10
}

Edit the attributes as applicable.

[!NOTE] For more information, see Configure a Machine.

Attributes

The following attributes are available:

Name	Type	Inclusion	Description
ip_address	string	Required	The IP address of the KUKA device.
port	int	Optional	The port on the device to form the required TCP connection. The default port is 54610.
model	string	Optional	The baudrate model of KUKA device to be communicated to. This is also used in order to load the proper URDF file for geometric and kinematic data. The default model is KR10 R900-2.
joint_speed	float64	Optional	Sets the speed of the joints. A value from (1-100). The default speed is 6.28
safe_mode	bool	Optional	A bool that, if true, will ping the KUKA device to check connection before running any motion actions. The default is safe_mode turned off.

Known Supported Hardware

Support for the following Arms has been confirmed. Additional arms that operate via KUKA's Robot Language (KRL) can be supported given the proper URDF file.

Devices	Mac OSX	Linux
KR10r900-2	X	X

Next steps

• To test your arm, go to the CONTROL tab.
• To write code against your arm, use one of the available SDKs.
• To view examples using an arm component, explore these tutorials.

Further Work

To request additional features or models be added, please create a GitHub Issue or reach out to us on our Discord channel.