| Autor: |
Gutiérrez, Carlos San Vicente, Juan, Lander Usategui San, Ugarte, Irati Zamalloa, Goenaga, Iñigo Muguruza, Kirschgens, Laura Alzola, Vilches, Víctor Mayoral |
| Rok vydání: |
2018 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and interoperability. We propose a new sub-class of cobots named M-cobots which tackle these problems. In particular, we discuss the relevance of synchronization for these systems, analyze it and demonstrate how with a properly configured M-cobot, we are able to obtain a) distributed sub-microsecond clock synchronization accuracy among modules, b) timestamping accuracy of ROS 2.0 messages under 100 microseconds and c) millisecond-level end-to-end communication latencies, even when disturbed with networking overloads of up to 90% of the network capacity. |
| Databáze: |
arXiv |
| Externí odkaz: |
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