Towards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROS

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dc.contributorAalto-yliopistofi
dc.contributorAalto Universityen
dc.contributor.authorLashchev, Andreien_US
dc.contributor.authorVeselov, Gennadyen_US
dc.contributor.authorVyatkin, Valeriyen_US
dc.contributor.departmentDepartment of Electrical Engineering and Automationen
dc.contributor.groupauthorInformation Technologies in Industrial Automationen
dc.contributor.organizationSouthern Federal Universityen_US
dc.date.accessioned2022-02-02T07:51:49Z
dc.date.available2022-02-02T07:51:49Z
dc.date.issued2021en_US
dc.descriptionFunding Information: This work was supported, in part, by the H2020 project 1-SWARM co-funded by the European Commission (grant agreement: 871743). Publisher Copyright: © 2021 IEEE.
dc.description.abstractThis article presents an approach for implementing distributed multi-agent control of a multi-axis manipulator using decentralised trajectory interpolation. The approach is prototyped using communication architecture of the Robot Operating System (ROS) framework. Also, using the proposed approach, the simulation was performed in the Copella Simulator. The solution aims at enabling multi-axis machines with intelligent axes having embedded controllers, capable of following trajectories without central control system.en
dc.description.versionPeer revieweden
dc.format.extent4
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationLashchev, A, Veselov, G & Vyatkin, V 2021, Towards Distributed Trajectory Interpolation and Motion Control : Prototyping with ROS . in Proceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021 . IEEE, IEEE International Conference on Emerging Technologies and Factory Automation, Västerås, Sweden, 07/09/2021 . https://doi.org/10.1109/ETFA45728.2021.9613176en
dc.identifier.doi10.1109/ETFA45728.2021.9613176en_US
dc.identifier.isbn9781728129891
dc.identifier.otherPURE UUID: c46ae43f-8466-48b7-8dfb-a4813878fe89en_US
dc.identifier.otherPURE ITEMURL: https://research.aalto.fi/en/publications/c46ae43f-8466-48b7-8dfb-a4813878fe89en_US
dc.identifier.otherPURE LINK: http://www.scopus.com/inward/record.url?scp=85122962034&partnerID=8YFLogxKen_US
dc.identifier.otherPURE FILEURL: https://research.aalto.fi/files/78899229/ELEC_Lashchev_etal_Towards_Distributed_Trajectory_Interpolation_IEEE_ETFA_2021.pdfen_US
dc.identifier.urihttps://aaltodoc.aalto.fi/handle/123456789/112779
dc.identifier.urnURN:NBN:fi:aalto-202202021676
dc.language.isoenen
dc.relation.ispartofIEEE International Conference on Emerging Technologies and Factory Automationen
dc.relation.ispartofseriesProceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021en
dc.rightsopenAccessen
dc.subject.keywordDecentralised trajectory interpolationen_US
dc.subject.keywordDistributed multi-agent motion controlen_US
dc.subject.keywordROSen_US
dc.titleTowards Distributed Trajectory Interpolation and Motion Control: Prototyping with ROSen
dc.typeA4 Artikkeli konferenssijulkaisussafi
dc.type.versionacceptedVersion

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