Robot API

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• Use Cases
• Robot API

This page documents the Robot API. It is not necessary for robots to support all of these commands, but if a command is implemented, it should adhere to this convention for the command name and payload. The API does not require use of the Robot Operating System (ROS), but the equivalent ROS service/topic name and message type are included.

Use Cases

The initial use cases were motivated by the Raven II and da Vinci Research Kit (dVRK), which are telerobotic systems primarily used for research in medical applications. However, it also encompasses teleoperation or cooperative (hands-on) control of other robot systems, including typical industrial robots. It is not intended for mobile robots. Typical use cases include:

• Teleoperation with or without force feedback, using any master input device to teleoperate any slave robot
  • Teleoperation over high-speed links, for example when master and slave are controlled from same computer or from computers with high-speed local connection
  • Teleoperation with lower-quality channels, such as over the Internet. These may have lower bandwidth and/or significant latency.
• Autonomous (CNC-style) motion on the slave robot
• Virtual fixtures on the master robot

Robot API Specification

Robot Motion

[Robot Operating State]((/collaborative-robotics/documentation/wiki/Robot-API-status)

Status, warning, error messages