KUKA LBR Control

A repository for controlling the KUKA lbr iiwa or med with cartesian impedance control using ROS2.

ROS2 Distro	Controller	FRI library	LBR Stack
Humble
Jazzy

Install

The installation guide is available in the Wiki page

Run the controllers on real hardware

Kinematics controls

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Gravity Compensation

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Cartesian Impedance Control with Null Space Task

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Gazebo Simulation

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References

• Cartesian controllers
• lbr ROS2 stack (KUKA Hardware Interface)