File(s) under permanent embargo
Improvements in teleoperation of industrial robots without low-level access
conference contribution
posted on 2014-01-01, 00:00 authored by Mohsen Moradi DalvandMohsen Moradi Dalvand, Saeid NahavandiThis paper proposes a method to improve motion smoothness and decrease latency using existing ABB IRC5 robot controllers without access to any low level interface. The proposed control algorithm includes a high-level PID controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit (SDK). The multitasking feature of the IRC5 controller was used in order to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a predefined 3D trajectory were carried out and the benefits of the proposed algorithm was demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six degrees of freedom (DOF) force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Experimental results demonstrating the robot tool centre point (TCP), tracking errors, and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with less than 0.2 mm tracking errors.
History
Event
Systems, Man, and Cybernetics. Conference (2014 : San Diego, California)Pagination
2170 - 2175Publisher
IEEELocation
San Diego, CaliforniaPlace of publication
Piscataway, NJStart date
2014-10-05End date
2014-10-08ISBN-13
9781479938391Language
engPublication classification
E Conference publication; E1 Full written paper - refereedCopyright notice
2014, IEEEEditor/Contributor(s)
[Unknown]Title of proceedings
SMC 2014 : Proceedings of the 2014 IEEE International Conference on Systems, Man, and CyberneticsUsage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC