On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots

被引：10

作者：

Baklouti, Sana ^{[1
]}

Gallot, Guillaume ^{[1
]}

Viaud, Julien ^{[1
]}

Subrin, Kevin ^{[2
]}

机构：

[1] Capacites SAS, LS2N UMR 6004, 2 Av Pr Jean Rouxel, F-44475 Carquefou, France

[2] Univ Nantes, GMP Dept, IUT Nantes, LS2N UMR 6004, 2 Av Pr Jean Rouxel, F-44475 Carquefou, France

来源：

APPLIED SCIENCES-BASEL | 2021年 / 11卷 / 16期

基金：

新加坡国家研究基金会;

关键词：

teleoperation; latency analysis; Robot Operating System; ROS-based control; TIME-DELAY;

D O I：

10.3390/app11167190

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

This paper deals with Yaskawa robots controlling the Robot Operating System (ROS) for teleoperation tasks. The integration of an open-source ROS interface based on standard Motoman packages into control loop leads to large trajectory tracking errors and latency, which are unsuitable for robotic teleoperation. An improved version of the standard ROS-based control is proposed by adding a new velocity control mode into the standard Motoman ROS driver. These two approaches are compared in terms of response time and tracking delay. Investigations applied on the Yaskawa GP8 robot while using the proposed improved ROS-based control confirmed trajectory tracking and latency improvements, which can achieve 43% with respect to standard control.

引用

页数：13

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