Drake Tutorial
  • Drake Tutorial
  • To get started
  • Introduction
    • Drake Concepts
    • Drake Multibody
    • Drake Simulation
    • Drake Notation
    • Bazel basics
  • Things to do in drake
    • Hello, Drake!
    • Create a URDF/SDF robot
    • Visualize data in LCM
    • Visualize trajectory
    • [WIP] Visualize data
    • [WIP] Control Real KUKA arm
  • Drake Controllers
    • PID control of double pendulum
    • LQR on Cart Pole
    • Inverse Dynamics Control on fully-actuated KUKA arm
    • [WIP] Control a underactuated robot using Inverse Dynamics Controller
  • Drake Optimization
    • [WIP] Trajectory Optimization 1 - Direct Transcription
    • [WIP] Trajectory Optimization 2 - Direct Collocation
    • [WIP] Trajectory Optimization 3 - Shooting method
    • [WIP] Optimal Control 1 - Quadratic Programming
    • [WIP] Optimal Control 2 - Sequential Quadratic Programming
  • Q & A
    • FAQ
    • Use Drake as part of your project
  • Deprecated
    • Create a simple system
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  1. Things to do in drake

[WIP] Control Real KUKA arm

Data is transmitted through LCM in Drake. To control a real robot, control signal from Drake should be translated from LCM to robot language, which could be EtherCat, Serial, PWM signals, etc. The translator is the driver we need for each robot we want to drive.

For example, if we want to drive a KUKA arm, we would need to translate LCM to KUKA Robot Language (KRL).

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Last updated 5 years ago

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