Which robot arm is more suitable for ROS secondary development?

[zp2546265641]

Hello, I want to use our robot arm for secondary development. I would like to ask, does the YRC1000micro control cabinet support ros control? I saw in the wiki community that it only supports (DX100, FS100, DX200, and YRC1000), but I don't know if micro can? What is the difference between the YRC1000micro and YRC1000 control cabinets?

[zp2546265641]

Considering the high requirement of repeatable positioning accuracy, I want to use GP7, but its control cabinets are large and small. I am not sure whether micro also supports ros driver, and how big is the difference between mirco and standard control cabinet. How about using this one for secondary development? I mainly need to control trajectory and io interface, movement speed topic.

[gavanderhoorn]

YRC1000micro is supported. It's considered to be part of / related to the YRC1000. See also the motoman_driver - Overview section:

does the YRC1000micro control cabinet support ros control?

if by ros control you mean: can I use motoman_driver to execute JointTrajectorys, then: yes, that's supported.

If you are asking whether ros_control is supported, then: no, motoman_driver does not support ros_control.

I mainly need to control trajectory and io interface,

these are supported.

movement speed topic.

there is no support for velocity control.

You can control the speed with which it moves through your trajectory points though.

---

Finally: this driver only supports ROS 1. If you're looking for ROS 2 support, please see yaskawa-global/motoros2.

[zp2546265641]

I want to plan the trajectory through MoveIt and send it to the robot to execute the motion trajectory. Is this possible? In addition, I need to control external devices through the IO interface of the control cabinet, such as the air pressure input and output interface of the 3D printer. Is it possible? In addition, you said that you can control the speed of the path point to achieve the speed control of the robot, right? I have used the ur robot before and encountered a problem. When I use MoveIt to control the movement of the robot, and then send io control instructions, the movement of the robot will be interrupted. The reason is that only one ur robot script control can be sent at the same time. If you want to achieve both, you need to add a proxy service to do it. I wonder if our robot can send io control instructions during the movement of the robot?

[zp2546265641]

I understand that our robotic arm seems to be the first major brand to support ROS development, and I am very happy to get your reply.

[gavanderhoorn]

I want to plan the trajectory through MoveIt and send it to the robot to execute the motion trajectory. Is this possible?

yes. motoman_driver exposes a FollowJointTrajectoryAction interface which is exactly what MoveIt requires to execute trajectories.

In addition, I need to control external devices through the IO interface of the control cabinet, such as the air pressure input and output interface of the 3D printer. Is it possible?

The various IO services could in theory be used to control IO on the Yaskawa controller.

Whether you can use them to control the devices you mention I can't say.

In addition, you said that you can control the speed of the path point to achieve the speed control of the robot, right? I have used the ur robot before and encountered a problem. When I use MoveIt to control the movement of the robot, and then send io control instructions, the movement of the robot will be interrupted. The reason is that only one ur robot script control can be sent at the same time. If you want to achieve both, you need to add a proxy service to do it. I wonder if our robot can send io control instructions during the movement of the robot?

Controlling IO and movement are separate in motoman_driver. In other words: you can read & write IO signals while motion is being executed.

I would however suggest you benchmark and see whether performance (including latency) is acceptable for the application(s) you mention.

motoman_driver does not make any promises wrt maximum or average latencies or maximum performance. Whether its performance is sufficient for your application would be something only you can determine.

[zp2546265641]

thank you very much! i will report to my tutor and then i hope that i will try with our robot!