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Improvements in teleoperation of industrial robots without low-level access

conference contribution
posted on 2014-01-01, 00:00 authored by Mohsen Moradi DalvandMohsen Moradi Dalvand, Saeid NahavandiSaeid Nahavandi
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.



Systems, Man, and Cybernetics. Conference (2014 : San Diego, California)


2170 - 2175




San Diego, California

Place of publication

Piscataway, NJ

Start date


End date






Publication classification

E Conference publication; E1 Full written paper - refereed

Copyright notice

2014, IEEE



Title of proceedings

SMC 2014 : Proceedings of the 2014 IEEE International Conference on Systems, Man, and Cybernetics