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ROS-I Interface for COMAU Robots

2014; Springer Science+Business Media; Linguagem: Inglês

10.1007/978-3-319-11900-7_21

1611-3349

Stefano Michieletto, Elisa Tosello, Fabrizio Romanelli, Valentina Ferrara, Emanuele Menegatti,

Robotic Path Planning Algorithms

The following paper presents the ROS-I interface developed to control Comau manipulators. Initially, the Comau controller allowed users to command a real robot thanks to motion primitives formulated through a Comau motion planning library. Now, either a ROS or a non ROS -compliant platform can move either a real or a virtual Comau robot using any motion planning library. Comau modules have been wrapped within ROS and a virtual model of a Comau robot has been created. The manufacturer controller has been innovatively used to drive both the real and the simulated automata.