Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS

Andrei Lashchev; Gennady Veselov; Valeriy Vyatkin

doi:10.1109/ETFA45728.2021.9613176

Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS

Andrei Lashchev, Gennady Veselov, Valeriy Vyatkin

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

1 Citation (Scopus)

42 Downloads (Pure)

Abstract

This article presents an approach for implementing distributed multi-agent control of a multi-axis manipulator using decentralised trajectory interpolation. The approach is prototyped using communication architecture of the Robot Operating System (ROS) framework. Also, using the proposed approach, the simulation was performed in the Copella Simulator. The solution aims at enabling multi-axis machines with intelligent axes having embedded controllers, capable of following trajectories without central control system.

Original language	English
Title of host publication	Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021
Publisher	IEEE
Number of pages	4
ISBN (Electronic)	9781728129891
DOIs	https://doi.org/10.1109/ETFA45728.2021.9613176
Publication status	Published - 2021
MoE publication type	A4 Conference publication
Event	IEEE International Conference on Emerging Technologies and Factory Automation - Västerås, Sweden Duration: 7 Sept 2021 → 10 Sept 2021 Conference number: 26

Conference

Conference	IEEE International Conference on Emerging Technologies and Factory Automation
Abbreviated title	ETFA
Country/Territory	Sweden
City	Västerås
Period	07/09/2021 → 10/09/2021

Keywords

Decentralised trajectory interpolation
Distributed multi-agent motion control
ROS

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10.1109/ETFA45728.2021.9613176

ELEC_Lashchev_etal_Towards_Distributed_Trajectory_Interpolation_IEEE_ETFA_2021Accepted author manuscript, 1.03 MB

Cite this

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title = "Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS",

abstract = "This article presents an approach for implementing distributed multi-agent control of a multi-axis manipulator using decentralised trajectory interpolation. The approach is prototyped using communication architecture of the Robot Operating System (ROS) framework. Also, using the proposed approach, the simulation was performed in the Copella Simulator. The solution aims at enabling multi-axis machines with intelligent axes having embedded controllers, capable of following trajectories without central control system.",

keywords = "Decentralised trajectory interpolation, Distributed multi-agent motion control, ROS",

author = "Andrei Lashchev and Gennady Veselov and Valeriy Vyatkin",

note = "Funding Information: This work was supported, in part, by the H2020 project 1-SWARM co-funded by the European Commission (grant agreement: 871743). Publisher Copyright: {\textcopyright} 2021 IEEE.; IEEE International Conference on Emerging Technologies and Factory Automation, ETFA ; Conference date: 07-09-2021 Through 10-09-2021",

year = "2021",

doi = "10.1109/ETFA45728.2021.9613176",

language = "English",

booktitle = "Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021",

publisher = "IEEE",

address = "United States",

}

Lashchev, A, Veselov, G & Vyatkin, V 2021, Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS. in Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021. IEEE, IEEE International Conference on Emerging Technologies and Factory Automation, Västerås, Sweden, 07/09/2021. https://doi.org/10.1109/ETFA45728.2021.9613176

Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS. / Lashchev, Andrei; Veselov, Gennady; Vyatkin, Valeriy.
Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021. IEEE, 2021.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Towards Distributed Trajectory Interpolation and Motion Control

T2 - IEEE International Conference on Emerging Technologies and Factory Automation

AU - Lashchev, Andrei

AU - Veselov, Gennady

AU - Vyatkin, Valeriy

N1 - Conference code: 26

PY - 2021

Y1 - 2021

N2 - This article presents an approach for implementing distributed multi-agent control of a multi-axis manipulator using decentralised trajectory interpolation. The approach is prototyped using communication architecture of the Robot Operating System (ROS) framework. Also, using the proposed approach, the simulation was performed in the Copella Simulator. The solution aims at enabling multi-axis machines with intelligent axes having embedded controllers, capable of following trajectories without central control system.

AB - This article presents an approach for implementing distributed multi-agent control of a multi-axis manipulator using decentralised trajectory interpolation. The approach is prototyped using communication architecture of the Robot Operating System (ROS) framework. Also, using the proposed approach, the simulation was performed in the Copella Simulator. The solution aims at enabling multi-axis machines with intelligent axes having embedded controllers, capable of following trajectories without central control system.

KW - Decentralised trajectory interpolation

KW - Distributed multi-agent motion control

KW - ROS

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U2 - 10.1109/ETFA45728.2021.9613176

DO - 10.1109/ETFA45728.2021.9613176

M3 - Conference article in proceedings

AN - SCOPUS:85122962034

BT - Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021

PB - IEEE

Y2 - 7 September 2021 through 10 September 2021

ER -

Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS

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