优化Universal Robots的ROS驱动程序

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"Universal_Robot_report.pdf - 优化Universal Robots ROS驱动程序。作者：Andersen, Thomas Timm，出版日期：2015年" 本文主要探讨了如何优化用于Universal Robots机械臂的Robot Operating System (ROS) 驱动程序。Universal Robots是一家知名的协作机器人制造商，其产品广泛应用于各种工业场景。ROS是一个开源操作系统，专为机器人系统设计，提供了一个标准化的框架，用于开发、测试和部署机器人软件。报告内容可能涉及以下几个关键知识点： 1. **ROS（Robot Operating System）**：ROS是一个开放源代码框架，它提供了许多工具、库和协议，使机器人开发者能够轻松地构建复杂机器人应用程序。ROS的核心特性包括节点通信、包管理和硬件抽象层。 2. **Universal Robots机械臂**：UR机械臂是一种灵活、易用的协作机器人，能够在人机交互环境中安全工作。它们通常用于装配、搬运、焊接等任务，具有高精度和可编程性。 3. **ROS驱动程序**：ROS驱动程序是连接ROS系统与硬件设备（如Universal Robots机械臂）的桥梁。它们负责将ROS消息转化为机械臂可以理解的命令，并将传感器数据反馈给ROS系统。 4. **驱动程序优化**：报告可能涵盖了提高驱动程序性能的策略，如减少通信延迟、优化控制算法、改进状态估计或增强安全性。这可能包括了更新通信协议、采用更高效的数据结构、调整控制参数以及实现故障检测和恢复机制。 5. **硬件与软件集成**：优化ROS驱动可能涉及到硬件特性的充分利用，如精确时间同步、硬件加速计算单元的利用，以及与UR机械臂固件的紧密配合。 6. **测试与调试**：报告可能包含了测试方法和调试技术，以验证优化效果并确保驱动程序的稳定性和可靠性。这可能包括仿真测试、实地试验以及日志记录和分析。 7. **安全性和合规性**：在优化驱动程序时，必须考虑机器人的安全性和符合行业标准，如ISO 10218（机器人安全标准）和ROS的安全实践。 8. **代码版本控制**：报告可能提到了使用版本控制系统（如Git）来管理代码的重要性，以便于协同开发和追踪更改。 9. **文献引用与研究背景**：作者可能引用了其他相关研究，以展示当前领域内的最新进展和技术趋势，为优化工作提供了理论基础。 10. **应用实例**：报告可能包含了实际应用案例，展示了优化后的ROS驱动程序在具体任务中的性能提升和用户友好性改进。通过优化Universal Robots的ROS驱动程序，不仅可以提升机械臂的运行效率，还能降低开发者的集成难度，进一步推动机器人技术在工业和其他领域的广泛应用。

RobotState class ...................................................................................................................................... 26

ROS integration............................................................................................................................................ 26

Performance ................................................................................................................................................ 28

Summary ...................................................................................................................................................... 29

Conclusion ....................................................................................................................................................... 31

Future work ................................................................................................................................................. 31

Works Cited ..................................................................................................................................................... 33

Appendix A – Pseudo URScript for threaded servoj command ....................................................................... 35

Introduction

Planning and executing trajectories on a robot manipulator can be a challenging task if we want to have a

saying on how and when the trajectory is carried out. To ensure maximum control, researches usually have

to build their own manipulator or spend years on reverse engineering an existing industrial manipulator.

With the introduction of ROS (Robot operating system) from Willow Garage in 2010 and especially the

forming of the ROS-Industrial organization in 2013, researches and robotics implementers were now given

better than ever access to other researches work, helped a long way by public repository and revision

services like Github. Today, it is possible to set up a robot and start doing advanced trajectory planning,

including collision avoidance and grasp planning in a matter of days or weeks.

By using ROS and ROS-I compatible manipulators, end effectors, perception systems/sensors, mobility

platforms, and peripherals, users know their equipment can all speak one language (ROS messages) and

interoperate regardless of OEM brands or communication bus.

One of the biggest advantages of ROS might also prove to be its biggest disadvantage. When a driver, being

it for a sensor, an actuator or a complete robot package, has been part of the ROS ecosystem for some

time, it will naturally have grown to have a solid user-base. Most of these users would like to see the driver

evolve and implement new features, but no one wants breaking changes introduced that breaks existing

code or projects.

The driver for the Universal Robots industrial manipulator is a prime example of this issue. It has been part

of ROS ever since ROS Electric, which was released in august 2011. Since then, significant contributions

within trajectory planning and execution have been added to ROS, like OpenRAVE with IkFast, MoveIt for

manipulation tasks, and ros_control for ease of controller implementation. While support for the first two

has been added by adding to the growing single-file Python implementation, the latter cannot be added

due to the use of Python. Other features like IO control has also been added on top of the implementation

over the years.

As further development of the driver thus requires a completely rewritten implementation in another

programming language (C++), it is worth to simultaneously evaluate the current driver and how it works to

research whether it is possible to improve the performance; preferable without breaking backwards

compatibility.

Thus in this report I will examine the current and research the possible performance improvements of one

of the most popular robotics platforms in research, the Universal Robot (UR) manipulator. I will solely focus

on the ROS based approaches, as this is what is mostly used for controlling the robot. While evaluating the

current drivers, I will also take notice of other areas in which these can be improved. The combined effort

will be put into a new driver that can be used both stand alone or in a supplied ROS wrapper.

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