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quangounet / bimanual

Bimanual manipulation
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Communication standard between PC and robots #11

Open FrankLin9981 opened 4 years ago

FrankLin9981 commented 4 years ago

Dear Coung,

I find your paper and this package on IEEE Xplore. Thanks a lot for the great work developed by your research team.

Recently, I encounter some problems about synchronicity of these two robots when I implement this algorithm in real hardware. So, I am curious about how you synchronize the robots. Is the communication under EtherCAT? Hope you could share some information about your implementation with me! That will be very helpful. Thank you again!

Sincerely, Frank

quangounet commented 4 years ago

Hi Frank. Synchronization is definitely a potential issue. We used Denso bCap in Slave mode. The follower robot also has force control to compensate for small errors. What hardware robots are you using?

FrankLin9981 commented 4 years ago

Dear Coung,

Thank you for providing the information! I currently use Comau NJ130 in my simulation and get stuck in the implementation stage. I think that I should check if there is any communication mode in my robot, which is similar with Denso bCap. Thanks for your reply!

Sincerely, Frank