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How to control two robot arm with one master

asked 2019-03-06 03:45:03 -0500

A_YIng gravatar image

Hello,

I have two set of Yaskawa Motoman MH5 with FS100 controller.

And now, I would like to control these two robot arm together.

Should I connect two robot arm to one controller or let them be separated ?

Please anyone give me some suggestion and tutorial.

Thanks a lot.

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answered 2019-03-06 04:18:07 -0500

gvdhoorn gravatar image

updated 2019-03-06 04:18:55 -0500

Do you need synchronised motion between the two MH5s?

Based on your answer to this, there will be two comparable, but slightly different answers (note: I'm assuming you want to use motoman_driver, if not, please clarify your question or ignore my answer):

  1. If synchronised motion is not required: you don't need to connect them to the same FS100.

    As to the motoman_driver setup: you run two instances of the driver in separate ROS namespaces. Each motoman_driver instance would connect separately to each FS100. You would get two FollowJointTrajectory action servers, one for each controller.

  2. If synchronised motion is required: you should probably connect them to the same FS100 and configure them as two motion groups on the controller.

    There would be a single motoman_driver instance that connects to the controller. No ROS namespaces would be necessary. You would see three FollowJointTrajectory action servers: one for each motion group and one for the combination of all joints. Sending trajectories to the per-group action server would result in async motion (ie: each manipulator is controlled individually). Sending trajectories to the "whole robot" action server would result in synchronised motion across all joints.

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Thanks for your reply, I exactly use motoman_driver in my project. I would like to know how to connect two robot arm to the same FS100. Any hardware should I get ?

A_YIng gravatar image A_YIng  ( 2019-03-06 06:21:14 -0500 )edit

That would be something to ask your local Yaskawa branch office.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-06 06:25:55 -0500 )edit

OK. I have the last question. Does this motoman_driver 'Inform' be suitable for this condition ?

A_YIng gravatar image A_YIng  ( 2019-03-06 06:39:38 -0500 )edit

Probably. Perhaps @millete can add something here. It all depends a bit on how things are set up on the controller.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-06 07:39:52 -0500 )edit

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Asked: 2019-03-06 03:45:03 -0500

Seen: 143 times

Last updated: Mar 06 '19