scholarly journals On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots

2021 ◽  
Vol 11 (16) ◽  
pp. 7190
Author(s):  
Sana Baklouti ◽  
Guillaume Gallot ◽  
Julien Viaud ◽  
Kevin Subrin
Keyword(s):  
Operating System ◽  
Response Time ◽  
Open Source ◽  
Trajectory Tracking ◽  
Control Mode ◽  
Velocity Control ◽  
Control Loop ◽  
Tracking Errors ◽  
Robot Operating System ◽  
Robotic Teleoperation

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.

Service-Robotik flexibel gestalten

Konstruktion ◽  
2019 ◽  
Vol 71 (04) ◽  
pp. 26-28
Author(s):  
Daniel Baković
Keyword(s):  
Operating System ◽  
Open Source ◽  
Robot Operating System ◽  
Start Ups

Passende Schnittstellen und Offenheit spielen in der Service-Robotik eine wichtige Rolle, um flexible Applikationen für den industriellen Einsatz zu entwickeln. Schließlich ist der Markt von innovativen Start-ups geprägt und der Wunsch nach Interoperabilität groß. Mithilfe des Open-Source-Robotik-Frameworks ROS (Robot Operating System) können Anwender ihre individuelle Service-Robotik-Applikation einfach und flexibel umsetzen.

scholarly journals A Tailored Participatory Action Research for FOSS Communities

2020 ◽  
Author(s):  
Adam Alami ◽  
Peter Axel Nielsen ◽  
Andrzej Wasowski
Keyword(s):  
Operating System ◽  
Quality Assurance ◽  
Action Research ◽  
Participatory Action Research ◽  
Open Source ◽  
Control Mechanisms ◽  
Participatory Action ◽  
Established Method ◽  
Robot Operating System ◽  
Specific Control

Participatory Action Research (PAR) is an established method to implement change in organizations. However, it cannot be applied in the open source (FOSS) communities, without adaptation to their particularities, especially to the specific control mechanisms developed in FOSS. FOSS communities are self-managed, and rely on consensus to reach decisions. This study proposes a PAR framework specifically tailored to FOSS communities. We successfully applied the framework to implement a set of quality assurance interventions in the Robot Operating System community. The framework we proposed is composed of three components, interventions design, democratization, and execution. We believe that this process will work for other FOSS communities too. We have learned that changing a particular aspect of a FOSS community is arduous. To achieve success the change must rally the community around it for support and attract motivated volunteers to implement the interventions.

Marine Autonomous Exploration Using a Lidar and SLAM

2017 ◽  
Author(s):  
Einar S. Ueland ◽  
Roger Skjetne ◽  
Andreas R. Dahl
Keyword(s):  
Operating System ◽  
Control System ◽  
Open Source ◽  
State Of The Art ◽  
Small Scale ◽  
Motion Controller ◽  
Autonomous Exploration ◽  
Robot Operating System ◽  
Surface Vessel ◽  
Scale Surface

This paper presents the implementation of a 2D-lidar to a model-scale surface vessel, and the design of a control system that makes the vessel able to perform autonomous exploration of a small-scale marine environment by the use of the lidar and SLAM. This includes a presentation and discussion of experimental results. The completion of this system has involved the development of a suitable control system that merges exploration strategies, path planners, a motion controller, and a strategy for generating controller setpoints. The system was implemented on the Robot Operating System platform, which made it possible to utilize open-source algorithms for state of the art SLAM.

Tool to Perform Software-in-the-Loop through Robot Operating System

2015 ◽  
Vol 713-715 ◽  
pp. 2391-2394
Author(s):  
Mauricio Mauledoux ◽  
Crhistian C.G. Segura ◽  
Oscar F. Aviles
Keyword(s):  
Operating System ◽  
Operating Systems ◽  
Control Strategy ◽  
Experimental Validation ◽  
Magnetic Levitation ◽  
Raspberry Pi ◽  
Control Loop ◽  
Robot Operating System ◽  
State Variable ◽  
Loop Feedback

This article describes the use of Software-in-the-loop (SIL) and Robot Operating System (ROS) as tools for controller implementation and simulation of discrete-time plants is exposed. For experimental validation a magnetic levitation plant is used, this is modeled using Lagrange obtaining a nonlinear model which is linearized. Thus this model is discretized using a Tustin transformation for subsequent implementation of the control loop. Feedback state variable is implemented as control strategy for experimental validation on a system (Raspberry-Pi / fit-PC, Matlab / PC). We chose to use ROS as it is available for computers running operating systems based on Linux, as used in various embedded systems commercially available com the Fit-PC, Beagle-Board and Raspberry-Pi, ROS occupies low disk space (basic installation), programming is done in C ++ allowing more thorough use of the hardware. For testing three modules (node) implemented; "Reference_node" which is responsible for requesting the user to the desired position and transmit it to the next node, "control_node" is responsible for carrying out checks, which receives as inputs the reference (desired position) and the output of the plant (position current), and which outputs the control signal (u), finally "plant_node" is the node that simulates the behavior of the plant.

scholarly journals ROS based SLAM implementation for Autonomous navigation using Turtlebot

2020 ◽  
Vol 32 ◽  
pp. 01011
Author(s):  
Sumegh Pramod Thale ◽  
Mihir Mangesh Prabhu ◽  
Pranjali Vinod Thakur ◽  
Pratik Kadam
Keyword(s):  
Operating System ◽  
Open Source ◽  
Open Source Software ◽  
Autonomous Navigation ◽  
Robot Operating System

This paper presents the autonomous navigation of a robot using SLAM algorithm.The proposed work uses Robot Operating system as a framework.The robot is simulated in gazebo and Rviz used for data visualization.Gmapping package is used for mapping by utilizing laser and odometry data from various sensors.The Turtlebot provides open source software to perform navigation.

Testing of Linux Performance Monitoring Tools on ARM Based Raspberry Pi

2019 ◽  
Vol 16 (9) ◽  
pp. 3955-3960
Author(s):  
Jasleen Kaur ◽  
S. R. N. Reddy
Keyword(s):  
Operating System ◽  
Response Time ◽  
Open Source ◽  
Real Time ◽  
Monitoring System ◽  
Performance Monitoring ◽  
Environmental Temperature ◽  
Raspberry Pi ◽  
Monitoring Tools ◽  
Cpu Usage

The open source feature of Linux operating system has resulted in considerable number of Linux performance monitoring tools. These tools are utilized to calculate the execution performance of the Linux operating system. This paper provides a brief overview of different Linux performance monitoring tools. It then tests the various discussed tools on ARM based Raspberry Pi (Rpi) board. The experimental results are obtained with respect to the python script to monitor the real time environmental temperature and humidity. The performance of Raspberry Pi based monitoring system is estimated in view of parameters such as response time, context switches, memory and CPU usage etc.

scholarly journals Multi-robot Control via Smart Phone and Navigation in Robot Operating System

2017 ◽  
Vol 8 (4) ◽  
pp. 37-46 ◽  
Author(s):  
Khadir BESSEGHIEUR ◽  
Wojciech KACZMAREK ◽  
Jarosław PANASIUK
Keyword(s):  
Operating System ◽  
Open Source ◽  
Autonomous Navigation ◽  
Robot Control ◽  
Smart Phone ◽  
Software Framework ◽  
Robot Operating System ◽  
Multi Robot

Robot Operating System (ROS) is an open source robot software framework which provides several libraries and tools to easily conduct different robot applications like autonomous navigation and robot teleoperation. Most of the available packages across the ROS community are addressed for controlling a single robot. In this paper, we aim to extend some packages so, they can be used in multi-robot applications on ROS. Mainly, the multi-robot autonomous navigation and multi-robot smart phone teleoperation are addressed in this work. After being extended and compiled, the new packages are assessed in some simulations and experiments with real robots.

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