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Stream_Motion_Controller

This repository contains the C++ controller for controlling the Fanuc robots using the Stream Motion interface. Supports joint goal tracking for now. Comming features: 1. joint path tracking, 2. Cart goal tracking, 3. Cart path tracking.

Instructions

  1. Modify the configuration file path_to_repo/config/user_config.json.
  2. Launch the controller node:
roslaunch stmotion_controller controller_node.launch
  1. Launch your task planning file:
roslaunch stmotion_controller controller_usage_example.launch
# OR
rosrun stmotion_controller controller_usage_example.py

Citation

If you find this repository helpful, please kindly cite our works.

@INPROCEEDINGS{9863251,
      author={Liu, Ruixuan and Chen, Rui and Sun, Yifan and Zhao, Yu and Liu, Changliu},
      booktitle={2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, 
      title={Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots}, 
      year={2022},
      volume={},
      number={},
      pages={1771-1778},
      doi={10.1109/AIM52237.2022.9863251}
}

@article{liu2022safe,
      title={Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm}, 
      author={Ruixuan Liu and Rui Chen and Changliu Liu},
      journal={arXiv preprint arXiv:2204.03038},
      year={2022}
}

License

This project is licensed under the MIT License.