Implementing ROS Communications for Sensor Integration with the RB5 Collaborative Robot

摘要

This paper highlights the implementation of a ROS wrapper for the RB5 collaborative robot, specifically to enable easy sensor integration for use as a research platform. The RB5 is a new, low-cost robotic arm that was developed to be implemented in non-industrial environments. End users can program basic tasks using a tablet-based teaching pendant software. While the current interface allows users to create programs for specific routine tasks, it does not allow for more the development of more robust applications - especially as there is no alternative solution for end users wanting to interact with the robot. The need to provide a more general platform for application led us to developing a Robot Operating System (ROS) interface. This interface abstracts robot commands through simple function calls on the user end, leading to easy control of the robot. In addition, the sensor integration capabilities that ROS provides will allow researchers to test their applications of the RB5 in whichever human collaborative environment they see fit.