Looking for an industry robot with joint velocity control
Hey All,
Currently we are looking for an industry robot that accepts joint speed command for real-time force control. I know Universal Robot is a potential candidate. However, its payload is not enough for our project. We are looking for a robot with the minimum payload of 12 kg.
I have been searching for a while. This recommends motorman FS100 controller. I see the PR has been merged in here. My question is:
- (1) What is the tracking performance for joint speed control? This link says he used "work-arounds" for force control. But how about its "real" performance? Is motorman joint velocity response quick enough to handle robot control on sensor feedback such as a force-torque sensor?
For Kuka robot, This link says "no RSI, no EKI" supports any velocity interfaces". Also, KUKA iiwa doesn't have the appropriate payload. I read somewhere (sorry I couldn't find its link) saing KUKA_EGM (or something similar) may be useful but I'm not sure what it is. My question would be:
- (2) Are there any KUKA robot asides from iiwa and LWR4 supporting joint velocity control?
As for ABB, I saw ABB IRB2400 is used for the ROS-Industry GODEL project. We are doing something similar. So my question is
- (3) Does ABB IRB2400 supports joint velocity control? If not, are there any other models do?
Finally, I couldn't find too much information on Fanuc robot.
- (4) Does it have any joint velocity controlled robot?
The ROS driver set-ups for different robot vendors are kind of complicated for me since my major is mechanical. I would really appreciate your feedback on the selection of industry robots since these industry robots could be super expensive, and I can't return it if we chose a wrong model.
Again, thank you for your help.
I own so much to gvdhoorn. Wish I could have the chance to thank him in person in the future.
Does Universal Robots have that feature? Could you send a link for any material? Also, does it already have ROS support?
Yes it does, you can google it and the default ROS support for UR should give u that feature.