A Bridge for KUKA Robots using REST API

The Kapi allows to control a 6-axis KUKA robot interactively via a REST API, eliminating the need for writing code in KRL.

Installation

Prerequisites:

• KUKA Office Lite or any KUKA Robot Controller (KRC) KSS 8.7 (other Versions might work)
• Python3 and the required libraries mentioned in `requirements.txt`

Installation Procedure:

1. Put the files from the robot interface directory on the KUKA Robot Controller
2. Put the python scripts (client interface directory) on a machine that has write access to the C:\\KRC folder of the KRC - if this is not the KRC machine, you need to change the filepath in the source code.
3. Disable Firewall (or add exceptions) on the KRC

Usage

Run the python script:

python kapi.py

Send a command (using the SwaggerUI accessible at localhost:8000 or any other method) to the Rest API. If this step is skipped, the robot will execute whatever is already written in the file at startup, or it may crash if no file exists.

Using the SmartHMI, run the api_v10.src program on the KRC. Upon starting, the robot moves to the canon position as a BCO run. Then, the start button needs to be pressed again.

Now, commmands can be sent interactively to the Rest API.