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ROS-I Interface for COMAU Robots

  • Stefano Michieletto
  • Elisa Tosello
  • Fabrizio Romanelli
  • Valentina Ferrara
  • Emanuele Menegatti
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8810)

Abstract

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.

Keywords

ROS Industrial Manipulators Simulation 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Stefano Michieletto
    • 1
  • Elisa Tosello
    • 1
  • Fabrizio Romanelli
    • 2
  • Valentina Ferrara
    • 2
  • Emanuele Menegatti
    • 1
  1. 1.Intelligent Autonomous Systems Lab. (IAS-Lab.) Department of Information Engineering (DEI)University of PadovaPadovaItaly
  2. 2.Research & Development Group in Motion and Control of Comau RoboticsGrugliascoItaly

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