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Comparison of KVP and RSI for Controlling KUKA Robots Over ROS
- Source :
- IFAC-Papers
- Publication Year :
- 2020
- Publisher :
- Elsevier BV, 2020.
-
Abstract
- In this work, an open-source ROS interface based on KUKAVARPROXY for control of KUKA robots is compared to the commercial closed-source Robot Sensor Interface available from KUKA. This comparison looks at the difference in how these two approaches communicate with the KUKA robot controller, the response time and tracking delay one can expect with the different interfaces, and the difference in use cases for the two interfaces. The investigations showed that the KR16 with KRC2 has a 50 ms response time, and RSI has a 120 ms tracking delay, with negligible delay caused by the ROS communication stack. The results highlight that the commercial inferface is more reliable for feedback control tasks, but the proposed interface gives read and write access to variables on the controller during execution, and can be used for simple motion and tooling control. The work reported in this paper was based on activities within centre for research based innovation SFI Manufacturing in Norway, and is partially funded by the Research Council of Norway under contract number 237900.
- Subjects :
- 0209 industrial biotechnology
SIMPLE (military communications protocol)
Computer science
Feedback control
Interface (computing)
020208 electrical & electronic engineering
Motion control systems
Robot controller
Response time
02 engineering and technology
020901 industrial engineering & automation
Robot manipulators
Control and Systems Engineering
Control theory
0202 electrical engineering, electronic engineering, information engineering
Robot
Robotics technologies
Simulation
Subjects
Details
- ISSN :
- 24058963
- Volume :
- 53
- Database :
- OpenAIRE
- Journal :
- IFAC-PapersOnLine
- Accession number :
- edsair.doi.dedup.....fc4c640b3be322a3dc22b0bf1d0f56b2