Results using ROS (Robotic Operating System)
Robot UR3 (Universal Robots) control, using ROS and MoveIt – Collision Avoidance
UR3 robot is presented in an infinite loop controlled using ROS Noetic and MoveIt. Rviz shows the environment with collision objects. The robot tries to repeat five movements until a user stops the program. If one of the five final positions harms the robot, according to MoveIt planning, the robot will follow the movements in the loop skipping the unsuitable one.
To implement the software application the following steps need to be followed:
- start an ethernet connection with the real robot;
- start Rviz with MoveIt and the motionPlanning, planning_context.launch, and move_group.launch plugins in an environment with collision objects;
- start a software program that controls the robot along 5 predefined looping motions, until it is stopped.
The robot starts moving. The most important aspect is the fact that the robot is continuing its loop skipping the 5th moving point. This is because that pose is harmful to the robot, and the robot would collide with the working area. What actually happens is that MoveIt tries to create a plan to go to the proposed position without collisions, but it fails, which is why the execution is not possible.
Robot UR3 (Universal Robots) control, using ROS and MoveIt – Protective Stop
UR3 robot is presented in an infinite loop controlled using ROS Noetic and MoveIt. Rviz shows the environment with collision objects. The robot activates the Protective Stop when it collides with the working area and stops. This type of collision appears when the operator does not set the optimal environment with MoveIt.
To implement the software application the following steps need to be followed:
- start an ethernet connection with the real robot;
- start an URCap program to activate the robot’s external control;
- start Rviz with MoveIt and the motionPlanning, planning_context.launch, and move_group.launch plugins in an environment without collision objects;
- start a software program that controls the robot along 5 predefined looping motions, until it is stopped. The 3rd position was configured to be harmful to the robot.
Because in Rviz there is no collision object, MoveIt will control the robot towards the harmful position as the planning was successful. It is important to notice that the robot automatically stops itself when it collides with the working area due to its emergency protocol.
The XXXIVth SISOM 2023
Annual Conference of the Institute of Solid Mechanics and Session of the Commission of Acoustics
