Abstract
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.
Highlights
Robotic teleoperation is used in a wide variety of areas such as medicine [1], underwater exploration [2], space activities [3], and nuclear operation [4] to perform tasks in environments that are hazardous [5] or inaccessible to humans
The open-source control interface based on standard Motoman driver package [27], created with the cooperation of Yaskawa Motoman, is experimentally analyzed in order to check its effectiveness for teleoperation tasks of Yaskawa manipulators
This paper proposed an improved Robot Operating System (ROS)-based control for teleoperated Motoman
Summary
Robotic teleoperation is used in a wide variety of areas such as medicine [1], underwater exploration [2], space activities [3], and nuclear operation [4] to perform tasks in environments that are hazardous [5] or inaccessible to humans. As we are interested in robotic teleoperation, one contribution of this paper is the identification of real-time performance degradation sources in order to identify and apply the required developments and improvements of robot control. ROS-based control coupled with Gazebo simulation is proposed in this paper to ensure the safety of teleoperation task. Real-time response of robotic system and its communication latency analysis leads to better controlling, as confirmed for ROS-controlled KUKA robots in [33] This analysis highlights the required extra developments to be carried out. The resulting performance degradation sources are identified: A second contribution of this paper deals with the proposition of an improved version of Motoman ROS-based control suitable for teleoperation tasks. The effectiveness of the proposed control method is studied to check its performance regarding to robot teleoperation performance compared to the standard one
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