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

Sana Baklouti (1) , Guillaume Gallot (1) , Julien Viaud (1) , Kévin Subrin (2, 3, 4, 5)

1 CAPACITÉS SAS
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 UN - Université de Nantes
5 IUT Nantes - Institut Universitaire de Technologie - Nantes

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.

Domaines: Automatique / Robotique

Sana Baklouti, Guillaume Gallot, Julien Viaud, Kévin Subrin. On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots. Applied Sciences, 2021, 11 (16), pp.7190. ⟨10.3390/app11167190⟩. ⟨hal-03584208⟩