Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure ...Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.展开更多
The teleoperation of a 6 degrees-of-freedom(DOF)manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications.The master interface based on the force/torque(FT)sensor cou...The teleoperation of a 6 degrees-of-freedom(DOF)manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications.The master interface based on the force/torque(FT)sensor could provide the full-dimension intuitive teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command input.However,due to the force coupling,noise disturbance and unlimited input signals of the FT sensor,this force-sensed interface could not be widely used in practice.In this paper,we present an intuitive teleoperation method based on the FT sensor to overcome these challenges.In this method,the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm,with the merits of anti-interference,output limitation,and online velocity adjustment.Furthermore,based on the admittance control and position controller,the manipulator could be teleoperated by the force commands.Three experiments were conducted on our self-designed robotic system.The result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit algorithm.Then,a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit algorithm.The proposed method could give a practical solution to the intuitive teleoperation based on the FT sensor.展开更多
The health of people around the world and the global economy are under substantial threat from the outbreak of pandemics[1].Controlling pandemics is extremely challenging,with preventing the spread of pathogens the mo...The health of people around the world and the global economy are under substantial threat from the outbreak of pandemics[1].Controlling pandemics is extremely challenging,with preventing the spread of pathogens the most important and critical step.Of all preventative actions,body temperature screening is undoubtedly highly necessary and effective[2].展开更多
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1309900)Institute for Guo Qiang,Tsinghua University of China(Grant No.2019GQG0007).
文摘Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.
基金National Key Research and Development Program of China(Grant No.2019YFB1309900)Shandong Provincial Key Research and Development Program of China(Grant No.2019JZZY010432)Institute for Guo Qiang,Tsinghua University,China(Grant No.2019GQG0007).
文摘The teleoperation of a 6 degrees-of-freedom(DOF)manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications.The master interface based on the force/torque(FT)sensor could provide the full-dimension intuitive teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command input.However,due to the force coupling,noise disturbance and unlimited input signals of the FT sensor,this force-sensed interface could not be widely used in practice.In this paper,we present an intuitive teleoperation method based on the FT sensor to overcome these challenges.In this method,the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm,with the merits of anti-interference,output limitation,and online velocity adjustment.Furthermore,based on the admittance control and position controller,the manipulator could be teleoperated by the force commands.Three experiments were conducted on our self-designed robotic system.The result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit algorithm.Then,a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit algorithm.The proposed method could give a practical solution to the intuitive teleoperation based on the FT sensor.
文摘The health of people around the world and the global economy are under substantial threat from the outbreak of pandemics[1].Controlling pandemics is extremely challenging,with preventing the spread of pathogens the most important and critical step.Of all preventative actions,body temperature screening is undoubtedly highly necessary and effective[2].
