ROS-I Interface for COMAU Robots
نویسندگان
چکیده
The following paper presents the ROS-I interface developed to control Comau manipulators. Initially, the Comau controller allowed users to command a real robot thanks to motion primitives formulated through a Comau motion planning library. Now, either a ROS or a non ROS -compliant platform can move either a real or a virtual Comau robot using any motion planning library. Comau modules have been wrapped within ROS and a virtual model of a Comau robot has been created. The manufacturer controller has been innovatively used to drive both the real and the simulated automata.
منابع مشابه
Expert cooperative robots for highly skilled operations for the factory of the future
Grant Agreement No : 314355 Project Acronym : X-act Project Start Date : 1st October, 2012 Consortium : UNIVERSITY OF PATRAS (LMS) Project Coordinator COMAU SPA (COMAU) SIEMENS INDUSTRY SOFTWARE SAS (SIEMENS-PLM) FUNDACION TEKNIKER (TEKNIKER) FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V (F-IPK) TOFAS TURK OTOMOBIL FABRIKASI ANONIM SIRKETI (TOFAS) ALFA HOGAR S.L. (ALFA) P...
متن کاملExpert cooperative robots for highly skilled operations for the factory of the future
Project Acronym : X-act Project Start Date : 1st October, 2012 Consortium : UNIVERSITY OF PATRAS (LMS) Project Coordinator COMAU SPA (COMAU) SIEMENS INDUSTRY SOFTWARE SAS (SIEMENS-PLM) FUNDACION TEKNIKER (TEKNIKER) FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V (F-IPK) TOFAS TURK OTOMOBIL FABRIKASI ANONIM SIRKETI (TOFAS) ALFA HOGAR S.L. (ALFA) PILZ INDUSTRIEELEKTRONIK SL (...
متن کاملJoint Space Point-to-point Motion Planning for Robots. an Industrial Implementation
A path-following algorithm for industrial robots is presented in this paper. The algorithm generates off-line a joint space point-to-point trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators’ torque limits while preserving the geometric path. Due to the software characteristic of the specific industrial architecture, the trajectories adopt a trapezoid...
متن کاملTowards Interactive, Incremental Programming of ROS Nodes
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional componentand MDSD-based approaches can facilitate experimentation. We propose the use of an internal DSL providing both a tool to interactively create ROS nodes a...
متن کاملA ROS (Robot Operating System) shim for Coq
Introduction Cyber-Physical Systems (CPS) such as ensembles of robots can be thought of as distributed systems where agents might have sensing and/or actuation capabilities. In fact the Robot Operating System (ROS) [4] presents a unified interface to robots where subcomponents (e.g. sensor, actuator, controller software) of even a single robot are represented as nodes that communicate with othe...
متن کامل