DrapeBot Deliverable D3.4: "High-performance robot interfaces for real-time control"

This deliverable aims to present the low-level interfaces developed for the real-time control of the robots in the DrapeBot project. The DrapeBot project developed two robotic cells for demonstrating the robotic draping: the TEZ developed by DLR for its use case and the DrapeCell demonstrator developed by Profactor for the use case of Dallara and Baltico. The two robotic cells use two different robot brands but share a lot of common software components. A common low-level control architecture was realized to optimize software development. The specific drivers for KUKA RSI and ABB EGM are the only difference between the control systems, while all the other software modules are shared.