Optimizing the Universal Robots ROS driver.

Thomas Timm Andersen

Research output: Book/ReportReport

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Abstract

In this report I will examine both the current and the possible performance of one of the most popular robotics platforms in research, the Universal Robot manipulator. I will solely focus on the ROS based approaches and show how the current driver can be improved. I will look at performance improvement both in terms of faster reaction as well as making it possible to control the robot using either ros_control or ordinary joint speed commands, which is required for many types of sensory based control like visual servoing. The developed driver is compared to the drivers already existing in the ROS framework to prove the improved performance.
Original languageEnglish
PublisherTechnical University of Denmark, Department of Electrical Engineering
Number of pages35
Publication statusPublished - 2015

Cite this

Andersen, T. T. (2015). Optimizing the Universal Robots ROS driver. Technical University of Denmark, Department of Electrical Engineering.
Andersen, Thomas Timm. / Optimizing the Universal Robots ROS driver. Technical University of Denmark, Department of Electrical Engineering, 2015. 35 p.
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Andersen, TT 2015, Optimizing the Universal Robots ROS driver. Technical University of Denmark, Department of Electrical Engineering.

Optimizing the Universal Robots ROS driver. / Andersen, Thomas Timm.

Technical University of Denmark, Department of Electrical Engineering, 2015. 35 p.

Research output: Book/ReportReport

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Andersen TT. Optimizing the Universal Robots ROS driver. Technical University of Denmark, Department of Electrical Engineering, 2015. 35 p.