Robot Raconteur: A communication architecture and library for robotic and automation systems

Wason, John; Wen, John T.

doi:10.1109/case.2011.6042513

Cited by 24 publications

(17 citation statements)

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“…The components of the overall system are coordinated using our home-grown distributed control system, called Robot Raconteur [10]. The system architecture is illustrated in Fig.…”

Section: Problem Statementmentioning

confidence: 99%

“…Since this term has a different orientation error it requires a different representation Jacobian for V in (2). Therefore, we need an additional Jacobian J c = V c J where the J σ terms in V c are with respect to the error (13), while the J σ terms in J a are with respect to the error in (10). We add this term to our controller in (9) to obtain our fully compensated controller:…”

Section: B Hybrid Position-force Controlmentioning

confidence: 99%

“…We integrate these subsystems together in a distributed system using Robot Raconteur (RR) [10], the object-oriented distributed control and communication software system developed in our laboratory, and now available for download at robotraconteur.com. We choose RR over other distributed robotic middleware systems such as ROS Industrial [11] due to its multi-platform compatibility (including MATLAB for data analysis, visualization, and user interface), true distributed implementation (no master node), object-oriented philosophy (flexible data structures), and ease of use (automatically generated client/service object interface code).…”

Section: Introductionmentioning

confidence: 99%

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A Sensor-Based Dual-Arm Tele-Robotic System

Kruse

Wen

Radke

2015

IEEE Trans. Automat. Sci. Eng.

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Abstract-We present a novel system to achieve coordinated task-based control on a dual-arm industrial robot for the general tasks of visual servoing and bimanual hybrid motion/force control. The industrial robot, consisting of a rotating torso and two seven degree-of-freedom arms, performs autonomous visionbased target alignment of both arms with the aid of fiducial markers, two-handed grasping and force control, and robust object manipulation in a tele-robotic framework. The operator uses hand motions to command the desired position for the object via Microsoft Kinect while the autonomous force controller maintains a stable grasp. Gestures detected by the Kinect are also used to dictate different operation modes. We demonstrate the effectiveness of our approach using a variety of common objects with different sizes, shapes, weights, and surface compliances.Note to Practitioners-Industrial robots traditionally are preprogrammed with teach pendants to perform simple repetitive tasks without any sensor feedback. This work was motivated by demonstrating that industrial robots can also perform advanced, sensor-based tasks such as visual servoing, force-feedback control, and tele-operation. Industrial robots are typically limited by the long delay between command and action, but with careful tuning, we show that these sensor-based methods are still feasible even with off-the-shelf sensors.The specific experimental testbed involves a 15 degree-offreedom dual-arm industrial robot with each wrist outfitted with a camera, a rubber contact pad, and a force/torque sensor. A Microsoft Kinect is used to communicate operator commands through gesture. The integrated system involves seven processes running on three computers (2 running Windows 7, 1 running Windows XP) connected through a local hub using the TCP/IP protocol. The communication between the components is based on an object-oriented distributed control and communication software architecture called Robot Raconteur.Though the implementation is for our specific testbed, the approach is sufficiently general to be extended to other robots, end effectors, sensors, and operating systems.

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“…The components of the overall system are coordinated using our home-grown distributed control system, called Robot Raconteur [10]. The system architecture is illustrated in Fig.…”

Section: Problem Statementmentioning

confidence: 99%

Section: B Hybrid Position-force Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Sensor-Based Dual-Arm Tele-Robotic System

Kruse

Wen

Radke

2015

IEEE Trans. Automat. Sci. Eng.

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“…The robot with the sensors and grippers is shown in Figure 2. The components of the overall system are coordinated using our home-grown distributed control system, called Robot Raconteur [8]. The system architecture is illustrated in Figure 3.…”

Section: Problem Formulationmentioning

confidence: 99%

“…We integrate these subsystems together in a flexible, seamless manner that allows frequent modification and experimentation as well as easy code maintenance. For the middleware that coordinates the communication over this distributed system, we chose to use Robot Raconteur [8], the open source software system developed in our laboratory, over ROS Industrial [9] due to its true distributed implementation (no master node), and ease of use.…”

Section: Introductionmentioning

confidence: 99%

A sensor-based dual-arm tele-robotic manipulation platform

Kruse

Radke

Wen

2013

2013 IEEE International Conference on Automation Science and Engineering (CASE)

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Abstract-This paper presents a novel telerobotic framework for human-directed dual-arm manipulation. Current telerobotic systems typically involve a single robot arm commanded by human through a joystick or a master arm. In contrast, our system involves a dual-arm robot manipulating a held object through human gestures without any mechanical coupling. Our experiment involves an industrial robot consisting of a torso, two seven degree-of-freedom arms, and two three-finger hands. We use the existing industrial robot controller, and only modify the position setpoint in the outer loop. The human interfaces to the robot using a set of gesture vocabulary. During object manipulation, the human gesture is interpreted as the desired configuration of the object. The robot performs autonomous vision-based target identification and alignment, grasp selection and force control, to ensure stable and robust object manipulation, with no demand on human for stable grasping. The heterogeneous components of the system are integrated through Robot Raconteur, a distributed communication and control software system. The system interfaces easily to powerful analysis and visualization tools, facilitating rapid algorithm development and prototyping. We envision that the integrated architecture will serve as the foundation for versatile, robust, and safe human-robot collaboration in increasingly complex sensing and manipulation tasks.

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Passivity‐based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators

Leite

Lizarralde

2016

Adaptive Control & Signal

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In this work, we consider the 3D visual tracking problem for a robot manipulator with uncertainties in the kinematic and dynamic models. The visual feedback is provided by a fixed and uncalibrated camera located above the robot workspace. The Cartesian motion of the robot end effector can be separated into a 1D motion parallel to the optical axis of the camera and a 2D motion constrained on a plane orthogonal to this axis. Thus, the control design can be simplified, and the overall visual servoing system can be partitioned in two almost-independent subsystems. Adaptive visual servoing schemes, based on a kinematic approach, are developed for image-based look-and-move systems allowing for both depth and planar tracking of a reference trajectory, without using image velocity and depth measurements. In order to include the uncertain robot kinematics and dynamics in the presented solution, we develop a cascade control strategy based on an indirect/direct adaptive method. The stability and convergence properties are analyzed in terms of Lyapunovlike functions and the passivity-based formalism. Numerical simulations including hardware-in-the-loop results, obtained with a robot manipulator and a web camera, are presented to illustrate the performance and feasibility of the proposed control scheme. and, therefore, the control system could exhibit degraded performance particularly when the robot is driven by direct-drive actuators or it has to perform high-speed tasks. Some exceptions can be found in earlier published works [16][17][18]. However, the proposals are applied only to the planar visual servoing problem, and their robot motion controllers based on the dynamic model require the measurement of the image velocity and, thus, the need of using an extra sensor. In addition, the measurement of the velocity for a moving target object from a sequence of images is impaired by the noisy image data, affecting the accuracy of the result [19,20].In this context, adaptive schemes for camera calibration without using visual velocity were proposed for 2D image-based visual servoing systems, with global stability properties under the assumption of exact knowledge of the robot mechanical parameters [21,22]. Adaptive control strategies for 2D visual tracking with uncertain robot manipulators were also developed, where the estimated Jacobian matrix of the camera-robot systems parameters has been simultaneously updated in an indirect manner [23]. Likewise, the uncertain Jacobian matrices related to the robot kinematics and the camera calibration parameters could be independently updated by using an indirect/direct adaptive schemes, respectively [24].Conversely, the robot motion control problem in a 3D Cartesian coordinate system has been addressed from the development of a 2-1/2-D visual servoing approach by using different choices of camera architectures [25,26]. As a restriction, some of the proposed solutions require the direct estimate of the depth information with respect to the camera frame, resorting to an off-line learning p...

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Robot Raconteur: A communication architecture and library for robotic and automation systems

Cited by 24 publications

References 1 publication

A Sensor-Based Dual-Arm Tele-Robotic System

A Sensor-Based Dual-Arm Tele-Robotic System

A sensor-based dual-arm tele-robotic manipulation platform

Passivity‐based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators

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