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Hi there,

newbie here, scoping a project where I am hoping to control a IRB-360 with a control and vision system on ROS. I am also working with an IRC5 controller.

I am just wondering if the current ABB ROS package supports the control of the IRB-360 or robots where a specific moveit package?

Thanks, Brian.


Originally posted by BrianH on ROS Answers with karma: 1 on 2017-12-04

Post score: 0

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I'm pretty certain the driver (abb_driver) will not have any difficulty with the IRB 360 (everything is done in joint space), but there is currently no (built-in) support for parallel kinematics in ROS (at least not in the default KDL interfaces, custom IK solvers can do anything). This means no support in urdf/xacro, nor in MoveIt.

The current accepted work-around is to model the kinematics as a "stick on a ball joint" and have a specialised node do the IK/FK for you. This was done for the Blue WorkForce Ragnar Robot (code: blueworkforce/ROSRagnarEDU) and the Yaskawa Motoman MPP3H.

This setup could work for the IRB 360, but I haven't seen it done yet, so I can't be certain.


Originally posted by gvdhoorn with karma: 86574 on 2017-12-05

This answer was ACCEPTED on the original site

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Original comments

Comment by gvdhoorn on 2017-12-05:
Note: when I write: no support for parallel kinematics, I mean that it's impossible to have a joint with > 1 parent. So initialisation of FK/IK components from the urdf is difficult. There are some tricks that can be used to at least get visualisation going though.

Comment by thompson104 on 2018-08-04:
Sir, could I command joint velocity with ABB robot in ROS? For example, we can use URScript to control the joint velocity of Universal Robot for real-time control. However, I can barely find info on the real-time joint velocity tracking performance on the other robot.

Comment by gvdhoorn on 2018-08-04:
Please ask this as a separate question. Apart from the fact that you want to use an ABB, I don't see any connecting to the Q&A that you posted your comment on.

Comment by thompson104 on 2018-08-04:
Thank you for your quick response as always. I have posted my question in the following link and I wonder if you may give me some suggestions? Thank you.

#q299622.

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