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Robot-Agnostic Interaction Controllers Based on ROS

Department of Computer Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, 84084 Fisciano, Italy
Author to whom correspondence should be addressed.
Academic Editors: Marco Faroni and Alessandro Umbrico
Appl. Sci. 2022, 12(8), 3949;
Received: 28 February 2022 / Revised: 9 April 2022 / Accepted: 11 April 2022 / Published: 13 April 2022
(This article belongs to the Special Issue Industrial Robotics: Design and Applications)
In robotized industrial scenarios, the need for efficiency and flexibility is increasing, especially when tasks must be executed in dangerous environments and/or require the simultaneous manipulation of dangerous/fragile objects by multiple heterogeneous robots. However, the underlying hardware and software architecture is typically characterized by constraints imposed by the robots’ manufacturers, which complicates their integration and deployment. This work aims to demonstrate that widely used algorithms for robotics, such as interaction control, can be made independent of the hardware architecture, abstraction level, and functionality provided by the low-level proprietary controllers. As a consequence, a robot-independent control framework can be devised, which reduces the time and effort needed to configure the robotic system and adapt it to changing requirements. Robot-agnostic interaction controllers are implemented on top of the Robot Operating System (ROS) and made freely available to the robotic community. Experiments were performed on the Universal Robots UR10 research robot, the Comau Smart-Six industrial robot, and their digital twins, so as to demonstrate that the proposed control algorithms can be easily deployed on different hardware and simulators without reprogramming. View Full-Text
Keywords: interaction control; robotic software framework; ROS; industrial robot; digital twin interaction control; robotic software framework; ROS; industrial robot; digital twin
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MDPI and ACS Style

Storiale, F.; Ferrentino, E.; Chiacchio, P. Robot-Agnostic Interaction Controllers Based on ROS. Appl. Sci. 2022, 12, 3949.

AMA Style

Storiale F, Ferrentino E, Chiacchio P. Robot-Agnostic Interaction Controllers Based on ROS. Applied Sciences. 2022; 12(8):3949.

Chicago/Turabian Style

Storiale, Federica, Enrico Ferrentino, and Pasquale Chiacchio. 2022. "Robot-Agnostic Interaction Controllers Based on ROS" Applied Sciences 12, no. 8: 3949.

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