This project aims to control a robot arm remotely over Ethernet from a ROS infrastructure running on another computer. The main robot algorithms will run on the remote computer and a ROS client on the same computer will interact with the robot arm remotely over the LAN. The robot arm will run on a less powerful embedded processor that will be in charge of controlling their actuators and reading from its sensors. The sensor data will be relayed to the remote computer and fed into the main algorithms; then, control data will be relayed back to the robot for controlling the actuators and moving the arm. The WIZ750SR board will be used to interface the robot arm's embedded processor to the more powerful computer running the ROS infrastructure over the Local Area Network.
On a follow-up of this project, the robot arm will be connected to a ROS infrastructure running on a cloud computing device. This approach has the potential for the robot to benefit from the powerful computational, storage, and communications resources found in modern data centers, which will also remove the overhead for maintenance and updates and reduce dependence on custom middle-ware.
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