Title :
YARC — A universal kinematic controller for serial robots based on PMAC and MoveIt!
Author :
Yanyu Su ; Yongzhuo Gao ; Yan Wu ; Wei Dong ; Weidong Wang ; Zhijiang Du
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
In this paper, we present a general approach to develop a kinematic controller for any serial robots using Programmable Multi-Axes Controller (PMAC) and MoveIt!. PMAC, a commercial product for motion control, is an all-in-one embedded system to control motion, amplify signals and acquire sensor information. MoveIt! is a state-of-the-art software for kinematics-based manipulations. It integrates many recent robotic advances, such as, Universal Robot Description File (URDF), Open Motion Planning Library (OPML) and so on. We will describe YARC (Yet Another Robot Controller), a principled way of integrating PMAC and MoveIt! together with a design of a smart control panel (TCPad). Several examples were demonstrated to show the functional superiority of this controller. The source code and hardware design have been made publicly accessible for the community.
Keywords :
control engineering computing; embedded systems; motion control; operating systems (computers); programmable controllers; robot kinematics; MoveIt! software; OPML; PMAC; URDF; YARC approach; embedded system; kinematics-based manipulation; motion control; open motion planning library; programmable multiaxes controller; sensor information; serial robots; signal amplification; universal kinematic controller; universal robot description file; yet another robot controller; Joints; Kinematics; Pipelines; Robot kinematics; Service robots; Trajectory;
Conference_Titel :
Asia-Pacific Signal and Information Processing Association, 2014 Annual Summit and Conference (APSIPA)
Conference_Location :
Siem Reap
DOI :
10.1109/APSIPA.2014.7041708
