kukapy

A Python package for controlling KUKA robots by interfacing with the KUKA Controller.

Overview

kukapy provides a robust Python API for controlling KUKA robots. It interfaces with the KUKA Controller via the kukadriver module and offers functionalities for calibration, motion control, and transformation handling.

Table of Contents

• Project Structure
• Installation
• Deploying to KUKA Controller
• Usage
• Contributing
• License
• Contact

Project Structure

kukadriver (KRL Scripts for the KUKA Robot Controller)

• mappdk_kuka_cmd.src – Handles robot commands.
• mappdk_kuka_comm.src – Manages communication between the robot and the external system.
• mappdk_kuka_logger.src – Logs system and command activities.
• mappdk_kuka_server.src – Main interface server for the robot.
• mappdk_kuka_utils.src – Provides utility functions for robot operations.

kukapy (Python API for KUKA Robot Interaction)

• calibration.py – Handles robot calibration.
• robot.py – Core module for robot control.
• robotapp.py – Application-level control logic.
• transformations.py – Utilities for handling transformations (e.g., quaternions, Euler angles).

Installation

1. Ensure Python 3.x is installed.
2. Clone the repository:

   git clone https://github.com/your-username/kukapy.git
   cd kukapy

Install dependencies: bash Copy pip install -r requirements.txt Deploying to KUKA Controller Transfer the .src files: Copy the files from the kukadriver directory onto the KUKA controller. Configure network communication: Set the appropriate IP addresses. Verify connectivity between the controller and your computer. Start the KUKA programs: Run the necessary scripts (e.g., mappdk_kuka_server.src) on the robot to enable command execution. Usage Below is a quick example to get started:

python Copy from kukapy.robot import Robot

Initialize the robot connection

robot = Robot(ip="192.168.1.100", port=12345)

Move the robot to a specified position (XYZ coordinates + Quaternion)

robot.move_to([500, 0, 300], [0, 1, 0, 0])

Retrieve the current position

pos = robot.get_position() print("Current Position:", pos)

Disconnect from the robot

robot.disconnect() Contributing Contributions are welcome! If you have suggestions, improvements, or bug fixes, please open an issue or submit a pull request. For larger changes, consider discussing your ideas first by opening an issue.

License This project is licensed under the MIT License.

Contact For any inquiries, please open an issue on this repository or contact the maintainers directly.