Setup of the Yaskawa SDA10F Robot for Industrial Applications, Using ROS-Industrial

Abstract

The ROS-Industrial open source project was intended to expand the applicability of industrial robots by reducing the gap that existed between researchers and manufacturers, in order to start developing state of the art applications for the industry. This is part of the scope of the PIR (Perception for Industrial Robots) project from the Pontificia Universidad Javeriana Bogotá (PUJ). PIR project looks for expanding robot’s capabilities for working in dynamic industrial environments. This paper presents the starting point of this project: the setup of the Motoman SDA_10 dual-arm robot with ROS-Industrial. In this paper, the different steps and modifications carried out to setup the system are presented. Simulation experiments and real tests were conducted in order to analyse and check the behaviour of the system. Results show some of the advantages of using ROS-Industrial, and the wide range of tasks that can be explored with these kind of robots from the research and application point of views (in Latin America only a few robots with this type of configuration is available for research purposes).