Optimizing the Universal Robots ROS driver.

Research output: Book/ReportReport – Annual report year: 2015Researchpeer-review

Documents

View graph of relations

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

Press/Media items

Download as:
Download as PDF
Select render style:
APAAuthorCBE/CSEHarvardMLAStandardVancouverShortLong
PDF
Download as HTML
Select render style:
APAAuthorCBE/CSEHarvardMLAStandardVancouverShortLong
HTML
Download as Word
Select render style:
APAAuthorCBE/CSEHarvardMLAStandardVancouverShortLong
Word

Download statistics

No data available

ID: 117833330