Next generation Universal Robot Driver for ROS and

Next generation Universal Robot Driver for ROS and ROS-I Thomas Timm Andersen Ph. D student Technical University of Denmark ttan@elektro. dtu. dk

Limitations of current universal_robot package Transmission rate: 50 Hz – Difficult to add features – Low control rate (~50 Hz) Joint angle • Robot-side driver written in URScript 1 • No support for velocity commands 0 0 -2 3 4 Commanded Actual Time Transmission rate: 125 Hz Joint angle 2 1 Commanded 0 0 1 2 3 4 Actual -1 -2 DTU Electrical Engineering, Technical University of Denmark 2 -1 • Stand-alone package 2 1 Time Next generation Universal Robot Driver for ROS and ROS-I 2/22/2021

Next generation driver Transmission rate: 125 Hz • Robot-side driver written in C – Easily expandable with new features Joint angle – Control rate limited by robot and network 1 0 0 1 2 3 4 -1 • ROS node implemented using Industrial Robot Client Thomas Timm Andersen -2 – Supports both position-based control Target Actual Time ttan@elektro. dtu. dk and velocity-based control 0. 02 – Ensures compliance with ROS-I Joint angle – Easy to maintain 0. 01 0. 00 0. 995 -0. 01 -0. 02 3 DTU Electrical Engineering, Technical University of Denmark Target 1. 005 1. 015 1. 025 Time Next generation Universal Robot Driver for ROS and ROS-I 2/22/2021 Actual