2018/09/19 by Gutiérrez, Carlos San Vicente, Juan, Lander Usategui San, Ugarte, Irati Zamalloa +3
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.1809.07295
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.