ROS$I&interface&for& COMAU&robots&

INTELLIGENT AUTONOMOUS SYSTEMS LAB

Stefano Michieletto – University of Padua Elisa Tosello – University of Padua Fabrizio Romanelli – Comau SpA Valentina Ferrara – Comau SpA Emanuele Menegatti – University of Padua

ROS-‐I interface for COMAU robots



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About COMAU

CROSS FUNCTIONS

BUSINESS UNITS

INDUSTRIAL OPERATIONS

PROJECT MANAGEMENT OFFICE

ENERGY MANAGEMENT TEAM

BODY WELDING

POWERTRAIN SYSTEMS

ROBOTICS

AEROSPACE

SERVICE

ADAPTIVE SOLUTIONS

QUALITY

•  Comau (COnsorzio MAcchine Utensili) is an Italian mulBnaBonal company

•  Comau develops and produces process automaBon, manufacturing and service soluBons and specializes in welding robots



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Ini:al COMAU control system

RT UDP/IP

PDL2 Program (Moves, etc.)

C4G Open

C4G Open realistic Robot Library



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RT UDP/IP

PDL2

C4G Open


•  C4G: Robot Unit Control

•  Open: it allows and easy and safe integraBon of the Robot Control Unit with an External

Personal Computer. This helps

•  Programming automated roboBc cells

•  IntegraBng external sensors to

•  ImplemenBng complex manufacturing

applicaBons

Ini:al COMAU control system C4G Open



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Ini:al COMAU control system C4G Open realis:c Robot Library

RT UDP/IP

PDL2

C4G Open


ORL allows to perform the following operaBons:

•  IniBalizaBon of a virtual robot on Linux (complete Comau robot family) starBng from a real configuraBon file

•  ComputaBon of Direct and Inverse KinemaBcs, for each Comau robot

•  Error management of posiBon and joint ranges

•  IntegraBon of Comau Trajectory Generator and Interpolator

•  ComputaBon of the Dynamic Model and Jacobian

The operaBons are realis:c: they describe what the robot would do if they were performed via PDL2 on the

real robot



Challenge: •  Increase ease of use •  Flexibility •  Integrability

of the open controller

Solu:on: Development of a ROS-‐I interface for Comau robots

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Why ROS?



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RT UDP/IP


C4G Open


ROS

ROS

The final system

ROS



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RT UDP/IP


C4G Open


ROS

ROS

ROS ROS

The final system



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RT UDP/IP


C4G Open


ROS

ROS

ROS ROS

TCP/IP

The final system



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RT UDP/IP


C4G Open


ROS

ROS

ROS ROS

TCP/IP

ROS

ROS

The final system



2 ‘hidden’ ROS packages have been developed: -‐  A virtual model of the robot -‐  A plugin integraBng the controller in Gazebo

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The final system Simula:on


ROS

ROS ROS

TCP/IP

ROS

ROS

•  Contains the robot meshes •  Containts the URDF file



2 ‘hidden’ ROS packages have been developed: -‐  A virtual model of the robot

-‐  A plugin integraBng the controller in Gazebo

•  Connects the robot controller to the simulator •  A wrapper for ORL has been developed •  The simulated robot performs the same movementents as the real one

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The final system Simula:on



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The final system Real robot

RT UDP/IP

C4G Open

ROS ROS

TCP/IP

Problems: -‐  Robot communicaBon → hard real Bme (2 ms) -‐  ROS → not real Bme at all



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The final system Real robot

RT UDP/IP

C4G Open

ROS ROS

TCP/IP

Problems: -‐  Robot communicaBon → hard real Bme (2 ms) -‐  ROS → not real Bme at all

Solu:on: a communicaBon node including

-‐  REAL TIME THREAD → real robot connecBon

-‐  NORMAL PRIORITY THREAD → moBon data



The final system is independent from:

-‐  PlaMorm -‐  Both ROS and not ROS –compliant pla^orms can use the so_ware

-‐  Environment -‐  The user can control both a real and a simulated robot -‐  The controller used is the same

-‐  Mo:on planning library -‐  Both ORL and external libraries can provide robot movements

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The final system Features



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Experiments

-‐  Developed using a Learning From DemonstraBon Framework



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Experiments

-‐  Developed using a Learning From DemonstraBon Framework -‐  MoBon commands sent using ROS -‐  Performed both in the real and in the simulated world -‐  Two scenarios

1.  PosiBon controller → ORL 2.  Velocity controller → customized MoBon Planning library



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First scenario

Move a box along a linear path from the beginning to the end of a 45 cm long table.

Posi:on controller à ORL

Results of 25 acempts:

45.011 ± 0.402 cm

Simulation Real world

54.332 ± 0.755 cm



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Second scenario

Stop an object in moBon in front of the robot.

Velocity controller à customized MP library

Results of 20 acempts:

Real world

Every Bme the robot stops the object in moBon



Now, the COMAU system -‐  Is ROS-‐compliant -‐  Can be used by non ROS-‐compliant pla^orms without integraBons -‐  Lets the user to control both a real and a virtual robot using the same moBon

controller -‐  Allows the replacement of the COMAU MP library with any library of the same

type

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Conclusions


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Thank you for your acenBon

ROS$I&interface&for& COMAU&robots&

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