KRSC KRSC is a Matlab/Simulink framework developed at the Chair of Production Systems at the Ruhr-Universität Bochum capable of calculating and controlling the force dependent deflection of industrial robots based on measured relationships between joint torques and the corresponding angular displacement. While the joint stiffness curves of a KR600 are provided, other robots could be implemented. Furthermore, preconfigured files for handling the necessary network traffic for KUKA robots are provided. Additionally, the framework is capable of controlling a specified contact force in a specified direction. While the framework is intended for the use in incremental sheet forming, it can be used for other applications as well. Publication and reference A publication that describes the approach in detail and presents validation experiments can be found here and is also part of the download package:Möllensiep, Dennis; Gorlas, Timo; Kulessa, Philipp; Kuhlenkötter, Bernd. Real-time stiffness compensation and force control of cooperating robots in robot-based double sided incremental sheet forming. Prod. Eng. Res. Devel. (2021). https://doi.org/10.1007/s11740-021-01052-4 Please cite the corresponding publication too if you are using the framework for your own research. Contact If you have any questions about the framework, please contact:Dennis Möllensiepmoellensiep@lps.rub.de License and Reference This software is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.