Conveyor tracking on a Yaskawa GP12 robot

asked 2021-02-08 14:25:01 -0600

Madhan_001 gravatar image

We are looking to purchase a GP12 robot for a task that involves conveyor tracking. The task at hand is to perform compressed air blowing on an automotive part that is moving on a conveyor at a speed of 2 cm/s, the compressed air needs to be blown on the full surface of the part similar to painting it, we use an in-house system that can dynamically generate the path from a point cloud for each unique part which then gets streamed to the robot for execution.

We typically work with a UR10 and this task is possible using FZI's cartesian_controllers but Mr. G.A. van der Hoorn on github said that it is incompatible as motoman_driver doesn't use ros_control. cartesian_controllers basically allows streaming 6D target poses wrt to a dynamic coordinate frame, to the robot. From what I have read until now, it looks like motoman_driver can only take an end to end trajectory that is generated ahead of time and execute it.

Is there a way to perform the specified task using ROS on a GP12 robot ? If it is not possible through ROS, is there an alternate way to accomplish this task? Is there a way to control the robot using dymanically published cartesian points (xyz-rpy) ?

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Comments

I believe ros-industrial/motoman#386 discusses a similar requirement.

gvdhoorn gravatar image gvdhoorn  ( 2021-02-09 04:21:40 -0600 )edit

It looks like motoman_driver is not capable of executing point by point command but only complete and continuous end to end trajectories, am I correct ?

Madhan_001 gravatar image Madhan_001  ( 2021-02-09 05:39:15 -0600 )edit
gvdhoorn gravatar image gvdhoorn  ( 2021-02-09 05:45:04 -0600 )edit

215 looks promising but it looks like it hasn't been merged with the kinetic-devel branch, can you please confirm if it can take densely sampled cartesian points ? also do you think this can fit the purpose ?

Madhan_001 gravatar image Madhan_001  ( 2021-02-09 05:53:34 -0600 )edit