Teleoperation of ABB industrial robots

Dalvand, Mohsen Moradi and Nahavandi, Saeid 2014, Teleoperation of ABB industrial robots, Industrial robot, vol. 41, no. 3, pp. 286-295, doi: 10.1108/IR-09-2013-400.

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Title Teleoperation of ABB industrial robots
Author(s) Dalvand, Mohsen Moradi
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Journal name Industrial robot
Volume number 41
Issue number 3
Start page 286
End page 295
Total pages 10
Publisher Emerald Group Publishing
Place of publication Bingley, Eng.
Publication date 2014
ISSN 0143-991X
Keyword(s) Force/torque sensor
PID controller
Remote control
Robotics
Teleoperation
Trajectory tracking
Vibration
Science & Technology
Technology
Engineering, Industrial
Engineering
ARCHITECTURE
DESIGN
ARM
Summary Purpose - The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed. Design/methodology/ approach - The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Findings - A communication rate of up to 250 Hz between the computer and the controller was established using C#.Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm. Research limitations/implications - The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications. Social implications - Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required. Originality/value - Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface. © Copyright - 2014 Emerald Group Publishing Limited. All rights reserved.
Language eng
DOI 10.1108/IR-09-2013-400
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2014, Emerald
Persistent URL http://hdl.handle.net/10536/DRO/DU:30071833

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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