Improvements in teleoperation of industrial robots without low-level access

Dalvand,MM and Nahavandi,S 2014, Improvements in teleoperation of industrial robots without low-level access, in SMC 2014 : Proceedings of the 2014 IEEE International Conference on Systems, Man, and Cybernetics, IEEE, Piscataway, NJ, pp. 2170-2175.

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Title Improvements in teleoperation of industrial robots without low-level access
Author(s) Dalvand,MM
Nahavandi,SORCID iD for Nahavandi,S
Conference name Systems, Man, and Cybernetics. Conference (2014 : San Diego, California)
Conference location San Diego, California
Conference dates 2014/10/5 - 2014/10/8
Title of proceedings SMC 2014 : Proceedings of the 2014 IEEE International Conference on Systems, Man, and Cybernetics
Editor(s) [Unknown]
Publication date 2014
Conference series Systems, Man, and Cybernetics Conference
Start page 2170
End page 2175
Total pages 6
Publisher IEEE
Place of publication Piscataway, NJ
Summary  This paper proposes a method to improve motion smoothness and decrease latency using existing ABB IRC5 robot controllers without access to any low level interface. The proposed control algorithm includes a high-level 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 (SDK). The multitasking feature of the IRC5 controller was used in order to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a predefined 3D trajectory were carried out and the benefits of the proposed algorithm was demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six degrees of freedom (DOF) 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. Experimental results demonstrating the robot tool centre point (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 less than 0.2 mm tracking errors.
ISBN 9781479938391
Language eng
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2014, IEEE
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