Abstract—TheKUKAlightweightrobot(LWR)providesmanyuniquefeaturesforroboticresearchers.Togivefullaccesstothesefeatures,anewinterfacewasdevelopedthatgivesdirectlow-levelreal-timeaccesstotheKUKArobotcontroller(KRC)athighratesofupto1kHz.Ontheotherhand,allindustrial-strengthfeatures,like