On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots
Source abstract
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.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Teleoperation and Haptic Systems · Robotics and Automated Systems · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Capacites SAS, LS2N-UMR 6004, 2 Av. Pr. Jean Rouxel, 44475 Carquefou, France
GMP Department, University of Nantes, IUT Nantes, LS2N-UMR 6004, 2 Av. Pr. Jean Rouxel, 44475 Carquefou, France
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