The following paper presents the ROS-I interface developed to controlcomau manipulators. Initially, the comaucontroller allowed users to command a real robot thanks to motion primitives formulated through a comau mo...
详细信息
Robot interaction with the surrounding environment is an important and newsworthy problem in the context of industrial and service robotics. Collision avoidance gives the robot the ability to avoid contacts with objec...
详细信息
Robot interaction with the surrounding environment is an important and newsworthy problem in the context of industrial and service robotics. Collision avoidance gives the robot the ability to avoid contacts with objects around it, but most of the industrial controls implementing collision avoidance checks only the robot Tool Center Point (TCP) over the objects in the cell, without taking into account the shape of the tool, mounted on the robot flange. In this paper a novel approach is proposed, based on an accurate 3D simulation of the robotic cell. A distributed real time computing approach has been chosen to avoid any overloading of the robot controller. The simulator and the client application are implemented in a personal computer, connected via a TCP-IP socket to the robot controller, which hosts and manages the anti-collision policies, based on a proper speed override control. The real time effectiveness of the proposed approach has been confirmed by experimental tests, carried out for a real industrial setup in two different scenarios.
The paper proposes a procedure for the iterative computation of a robot inverse kinematics that uses different algorithms in synergy, so to obtain a singularity-robust and rapidly convergent technique. The application...
详细信息
ISBN:
(纸本)9781849197106
The paper proposes a procedure for the iterative computation of a robot inverse kinematics that uses different algorithms in synergy, so to obtain a singularity-robust and rapidly convergent technique. The application of such a procedure allows the creation of a unified version of the executable code for large classes of industrial robots, with the possibility to introduce new kinematic chains or more complex structures without the need to entirely rewrite the code. The paper offers also some guidelines about the software implementation and optimization in the industrial environment, and it is completed by experimental results where the procedure is applied to real industrial robots.
The paper proposes a procedure for the iterative computation of a robot inverse kinematics that uses different algorithms in synergy, so to obtain a singularity-robust and rapidly convergent technique. The application...
详细信息
ISBN:
(纸本)9781629930824
The paper proposes a procedure for the iterative computation of a robot inverse kinematics that uses different algorithms in synergy, so to obtain a singularity-robust and rapidly convergent technique. The application of such a procedure allows the creation of a unified version of the executable code for large classes of industrial robots, with the possibility to introduce new kinematic chains or more complex structures without the need to entirely rewrite the code. The paper offers also some guidelines about the software implementation and optimization in the industrial environment, and it is completed by experimental results where the procedure is applied to real industrial robots.
暂无评论