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.
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CITATION STYLE
Michieletto, S., Tosello, E., Romanelli, F., Ferrara, V., & Menegatti, E. (2014). ROS-I interface for COMAU robots. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 8810, 243–254. https://doi.org/10.1007/978-3-319-11900-7_21
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