From cb0a2a5a5af3934c6de114864e941b5227c7a118 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 21 Aug 2020 09:45:40 +0200 Subject: [PATCH 1/7] Added explanation of scaled trajectory controller --- ur_controllers/README.md | 53 ++++++++++++++++++ .../doc/traj_with_speed_scaling.png | Bin 0 -> 104299 bytes .../doc/traj_without_speed_scaling.png | Bin 0 -> 107365 bytes 3 files changed, 53 insertions(+) create mode 100644 ur_controllers/doc/traj_with_speed_scaling.png create mode 100644 ur_controllers/doc/traj_without_speed_scaling.png diff --git a/ur_controllers/README.md b/ur_controllers/README.md index 530d6dbbe..bdfa529b4 100644 --- a/ur_controllers/README.md +++ b/ur_controllers/README.md @@ -16,3 +16,56 @@ This package contains controllers not being available in the default ROS-Control created to support more features offered by the UR robot family. Any of these controllers are example implementations for certain features and are intended to be generalized and merged into the default ROS-Control controller set at some future point. + +## Controller description +This packages offers a couple of specific controllers that will be explained in the following +sections. +### ur_controllers/SpeedScalingStateController +This controller publishes the readings of the actual execution speed as reported from the robot. +This is the percentage of the speed slider multiplied with the `target_speed_fraction` that results +from the robot's speed scaling getting active. + +### position_controllers/ScaledJointTrajectoryController and velocity_controllers/ScaledJointTrajectoryController +These controllers work similar to the well-known +[`joint_trajectory_controller`](http://wiki.ros.org/joint_trajectory_controller). + +However, they are extended to handle the robot's execution speed specifically. While the default +`joint_trajectory_controller` would interpolate the trajectory with the configured time constraints, +this could lead to massive path deviations due to multiple reasons: + - The speed slider on the robot could not be at 100%, so motion commands sent from ROS would + effectively get scaled down resulting in a slower execution. + - The robot could scale down motions based on configured safety limits resulting in a slower motion + then expected and therefor not reaching the desired target in a control cycle. + - Motions could not be executed at all, e.g. because the robot is in EM-Stop or protective stop or + the program interpreting motion commands is simply not running. + - The program interpreting motion commands could be paused. + +The following picture illustrates the problem: +![Trajectory execution with default trajectory controller](doc/traj_without_speed_scaling.png +"Trajectory execution with default trajectory controller") + +The graph shows a trajectory with one joint being moved to a target point and back to its' starting +point. As the joint's speed is limited to a very low setting on the teach pendant, speed scaling +(black line) get active and limits the joint speed (green line) effectively. This means, the target +trajectory (light blue) doesn't get followed by the robot, instead the pink trajectory is executed. +The vertical distance between the light blue line and the pink line is the path error in each time +frame. We can see that the path deviation gets above 300 degrees at some point and the target point +at -6 never gets reached. + +All of the cases mentioned above are solved by the scaled trajectory versions. Trajectory executions +can be transparently scaled down using the speed slider on the teach pendant without leading to +additional path deviations. Pausing the program or hitting an EM-Stop effectively leads to +speed_scaling being 0 meaning the trajectory will not be continued until the program is continued. +This way, trajectory executions can be explicitly paused and continued. + +With the scaled version of the trajectory controller the use case from above looks like this: +![Trajectory execution with scaled_joint_trajectory_controller](doc/traj_with_speed_scaling.png +"Trajectory execution with scaled_joint_trajectory_controller") + +The deviation between trajectory interpolation and actual robot execution stays minimal and the +robot reaches the intermediate setpoint instead of returning "too early" as in the example above. + +Under the hood this is implemented by proceeding the trajectory not by a full time step but only by +the fraction determined by the current speed scaling. If speed scaling is currently at 50% then +interpolation of the current time frame will start half a time step after the beginning of the +previous time frame. diff --git a/ur_controllers/doc/traj_with_speed_scaling.png b/ur_controllers/doc/traj_with_speed_scaling.png new file mode 100644 index 0000000000000000000000000000000000000000..ce7fcd389d97b6d4647e06a97ac3cd4938c47f10 GIT binary patch literal 104299 zcmcG$2{hJQ`#=0uDno;rM1~|GLlI4;R1zhb3Yk(7p){B!b0rN(lPG1(ka^Bns1T8P zNTEz+itv8+InQ}c{nq=g_5RoT|60$}IY+tO_x|pEU7zXN0b2X_EMwqipeSnDUNu#1 zidu4vq85IoTa2&xHE!R7f6$&)*{ef`U#@h={PExP_G*XEQq&4F@_(8b#b;Ld;ugnU z29Ag9jyqm3J7Y=NnmO9r*g4u*ne(5wJag8{?lk{K326ywasHEzj`mw6CI9^k5_V@! zNK&5<+@mOdYOkuY&c*xR+MJ9uf6gx%X-rJBIv9JJ*)kxNjXO4lEyOZL%0m3|6*H-V ztG*-YmRHZIUR~+BY~!)3%1^%S^Gy}n=zHqa5h>Zj`}W4VxOAWbxKYqnITFdfM%)kGtoe88r{KsF45-s)?|NXBpA7nRE z3HAT|S4^Okz&_RAf9dSH6TJ41*NGF*z8I9}D>XW&GplSW|z06;)MT@Bd40 zM^si|W@fnXu}PtOa$1_Vs^H54x0&0OilzpY!hZpoG{ zThwRL($XG9N9(eivHrPe+}8%UMFa$BVq;@RzJF(#w6d~_G|W8h9~2}ZE0BBaHH)}G zvXWItee5A=k2zO0p_`)D!v9$0IX7D6q90%0nORxU%cf@g?IG(X*dF ze^ygh7fo+VIQ*jX%a?Vh6)%oZ6B82#>DIapwCaC+KHARqe3z3=$z6uy2W{y;swBO$ zW~Ys;4u75`dB7;E_^EQ z=4L4=sZKvW=7SqbXJnWU4wkw6@jJWj%IjKgxr?rg6_uAS){bSX2;ya(?EU(*xF=3Z%WcXy{eZ>-rPC@;@7H#hg{?c4Iw z0M^m5{zLNHw)OPYJ`PEp`2O|#j~}B04e{#3Vg7L@r%y`^d`P^49WuJ5PE}RMWkkVv zcA!3X;kk3;cb8xO=RNCa#nK;^lgr%b;eAU@2t^A!TFG*GJa*obr%$^-zBr+~c`>uD zq%zY;mmgpE-0Vz9s@^tcW?hN)XQy`OJC9@kI=%hpAX;auYrguh*ypvurcImr1_r(_ z5sjMkREaElyyv=Bp}Sj5tZvKWqyT@lU3mxe$!m6(F+PcorlG{e#jWN4du~LlTtb51 zynDxaD@9mXSeAD=vo4E|3eB=*%TAs;^~29yFzSf^WdFc3oH|Nv-@eP?;VZ)=h5z&I zab@lCCe;iPE92wi4NGn?kprNcSUjBP({bsa_Zf5EIf*6JCrd+`{AvF1)Pu19EJ$D5 z$kG21n+x1C{_<{BIl&L2FyMhHysW(2t$J z@A>oeZ{5+jA_etO7UGm^e8n zcMoRTeDrF`v=bZL<~A*})v=GVwY8P8s-ykdn4~XilJ6|5t*zZIfBe5ohktP{loBw! 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z@fY|kx4s|}G?kxqXeAS}v($TdS3#Mr=9RN?TvQ<@axerJ?djUtix1piKdF z=o$^po@nh7!tO98i~XC63jh80ji4 z*zQ8y`S1uzSOTAf+h<|#7Q!dw4%9{m`p6|hpq|j@|Nn(+=kSK?_@aC@Krsk}tfbQ8 J>_<;t|2Ib!DZl^# literal 0 HcmV?d00001 From c4d02d29f27a1dcac6c7dcb64006c62aa6531f74 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 21 Aug 2020 18:29:24 +0200 Subject: [PATCH 2/7] Apply suggestions from code review Thanks @gavanderhoorn for this in-depth review! Co-authored-by: G.A. vd. Hoorn --- ur_controllers/README.md | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/ur_controllers/README.md b/ur_controllers/README.md index bdfa529b4..083759fc9 100644 --- a/ur_controllers/README.md +++ b/ur_controllers/README.md @@ -15,13 +15,13 @@ robot family. Currently this contains This package contains controllers not being available in the default ROS-Control set. They are created to support more features offered by the UR robot family. Any of these controllers are example implementations for certain features and are intended to be generalized and merged -into the default ROS-Control controller set at some future point. +into the default `ros_control` controller set at some future point. ## Controller description This packages offers a couple of specific controllers that will be explained in the following sections. ### ur_controllers/SpeedScalingStateController -This controller publishes the readings of the actual execution speed as reported from the robot. +This controller publishes the current actual execution speed as reported by the robot. This is the percentage of the speed slider multiplied with the `target_speed_fraction` that results from the robot's speed scaling getting active. @@ -29,40 +29,40 @@ from the robot's speed scaling getting active. These controllers work similar to the well-known [`joint_trajectory_controller`](http://wiki.ros.org/joint_trajectory_controller). -However, they are extended to handle the robot's execution speed specifically. While the default -`joint_trajectory_controller` would interpolate the trajectory with the configured time constraints, -this could lead to massive path deviations due to multiple reasons: - - The speed slider on the robot could not be at 100%, so motion commands sent from ROS would +However, they are extended to handle the robot's execution speed specifically. Because the default +`joint_trajectory_controller` would interpolate the trajectory with the configured time constraints (ie: always assume maximum velocity and acceleration supported by the robot), +this could lead to significant path deviation due to multiple reasons: + - The speed slider on the robot might not be at 100%, so motion commands sent from ROS would effectively get scaled down resulting in a slower execution. - The robot could scale down motions based on configured safety limits resulting in a slower motion - then expected and therefor not reaching the desired target in a control cycle. - - Motions could not be executed at all, e.g. because the robot is in EM-Stop or protective stop or + than expected and therefore not reaching the desired target in a control cycle. + - Motions could not be executed at all, e.g. because the robot is E-stopped or in a protective stop or the program interpreting motion commands is simply not running. - The program interpreting motion commands could be paused. -The following picture illustrates the problem: +The following plot illustrates the problem: ![Trajectory execution with default trajectory controller](doc/traj_without_speed_scaling.png "Trajectory execution with default trajectory controller") -The graph shows a trajectory with one joint being moved to a target point and back to its' starting +The graph shows a trajectory with one joint being moved to a target point and back to its starting point. As the joint's speed is limited to a very low setting on the teach pendant, speed scaling -(black line) get active and limits the joint speed (green line) effectively. This means, the target -trajectory (light blue) doesn't get followed by the robot, instead the pink trajectory is executed. +(black line) activates and limits the joint speed (green line). As a result, the target +trajectory (light blue) doesn't get executed by the robot, but instead the pink trajectory is executed. The vertical distance between the light blue line and the pink line is the path error in each time frame. We can see that the path deviation gets above 300 degrees at some point and the target point at -6 never gets reached. -All of the cases mentioned above are solved by the scaled trajectory versions. Trajectory executions +All of the cases mentioned above are addressed by the scaled trajectory versions. Trajectory execution can be transparently scaled down using the speed slider on the teach pendant without leading to -additional path deviations. Pausing the program or hitting an EM-Stop effectively leads to -speed_scaling being 0 meaning the trajectory will not be continued until the program is continued. +additional path deviations. Pausing the program or hitting the E-stop effectively leads to +`speed_scaling` being 0 meaning the trajectory will not be continued until the program is continued. This way, trajectory executions can be explicitly paused and continued. With the scaled version of the trajectory controller the use case from above looks like this: ![Trajectory execution with scaled_joint_trajectory_controller](doc/traj_with_speed_scaling.png "Trajectory execution with scaled_joint_trajectory_controller") -The deviation between trajectory interpolation and actual robot execution stays minimal and the +The deviation between trajectory interpolation on the ROS side and actual robot execution stays minimal and the robot reaches the intermediate setpoint instead of returning "too early" as in the example above. Under the hood this is implemented by proceeding the trajectory not by a full time step but only by From d769a2ae00500db66587572ecd3316b933c9ff12 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 21 Aug 2020 18:31:22 +0200 Subject: [PATCH 3/7] Added another suggestion I missed Co-authored-by: G.A. vd. Hoorn --- ur_controllers/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_controllers/README.md b/ur_controllers/README.md index 083759fc9..b1f65ffca 100644 --- a/ur_controllers/README.md +++ b/ur_controllers/README.md @@ -58,7 +58,7 @@ additional path deviations. Pausing the program or hitting the E-stop effectivel `speed_scaling` being 0 meaning the trajectory will not be continued until the program is continued. This way, trajectory executions can be explicitly paused and continued. -With the scaled version of the trajectory controller the use case from above looks like this: +With the scaled version of the trajectory controller the example motion shown in the previous diagram becomes: ![Trajectory execution with scaled_joint_trajectory_controller](doc/traj_with_speed_scaling.png "Trajectory execution with scaled_joint_trajectory_controller") From c0b4c2024257a6118dac6cb40839565512e5ba93 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 21 Aug 2020 19:04:13 +0200 Subject: [PATCH 4/7] Clarified where the speed_scaling value comes from. --- ur_controllers/README.md | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/ur_controllers/README.md b/ur_controllers/README.md index b1f65ffca..a99de9227 100644 --- a/ur_controllers/README.md +++ b/ur_controllers/README.md @@ -6,8 +6,8 @@ robot family. Currently this contains * A **speed_scaling_interface** to read the value of the current speed scaling into controllers. * A **scaled_joint_command_interface** that provides access to joint values and commands in combination with the speed scaling value. - * A **speed_scaling_state_controller** that publishes the current value of the speed scaling - to a topic interface. + * A **speed_scaling_state_controller** that publishes the current execution speed as reported by + the robot to a topic interface. Values are floating points between 0 and 1. * A **scaled_joint_trajectory_controller** that is similar to the *joint_trajectory_controller*, but it uses the speed scaling reported by the robot to reduce progress in the trajectory. @@ -21,10 +21,13 @@ into the default `ros_control` controller set at some future point. This packages offers a couple of specific controllers that will be explained in the following sections. ### ur_controllers/SpeedScalingStateController -This controller publishes the current actual execution speed as reported by the robot. -This is the percentage of the speed slider multiplied with the `target_speed_fraction` that results -from the robot's speed scaling getting active. +This controller publishes the current actual execution speed as reported by the robot. Values are +floating points between 0 and 1. +In the [`ur_robot_driver`](../ur_robot_driver) this is calculated by multiplying the two [RTDE](https://www.universal-robots.com/articles/ur/real-time-data-exchange-rtde-guide/) data +fields `speed_scaling` (which should be equal to the value shown by the speed slider position on the +teach pendant) and `target_speed_fraction` (Which is the fraction to which execution gets slowed +down by the controller). ### position_controllers/ScaledJointTrajectoryController and velocity_controllers/ScaledJointTrajectoryController These controllers work similar to the well-known [`joint_trajectory_controller`](http://wiki.ros.org/joint_trajectory_controller). From ed3ab01198ba6911b1dab711774162ac501a3bb1 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 21 Aug 2020 19:07:07 +0200 Subject: [PATCH 5/7] Format ros_control correctly --- ur_controllers/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_controllers/README.md b/ur_controllers/README.md index a99de9227..7308b0f62 100644 --- a/ur_controllers/README.md +++ b/ur_controllers/README.md @@ -1,6 +1,6 @@ # ur_controllers -This package contains controllers and hardware interface for ROS control that are special to the UR +This package contains controllers and hardware interface for `ros_control` that are special to the UR robot family. Currently this contains * A **speed_scaling_interface** to read the value of the current speed scaling into controllers. @@ -12,7 +12,7 @@ robot family. Currently this contains but it uses the speed scaling reported by the robot to reduce progress in the trajectory. ## About this package -This package contains controllers not being available in the default ROS-Control set. They are +This package contains controllers not being available in the default `ros_control` set. They are created to support more features offered by the UR robot family. Any of these controllers are example implementations for certain features and are intended to be generalized and merged into the default `ros_control` controller set at some future point. From bb9e18d1a308e8e38d0e37f0be2c8a127856bead Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 21 Aug 2020 19:49:07 +0200 Subject: [PATCH 6/7] Rewrote bullet point about non-moving robot --- ur_controllers/README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ur_controllers/README.md b/ur_controllers/README.md index 7308b0f62..baa5473e9 100644 --- a/ur_controllers/README.md +++ b/ur_controllers/README.md @@ -39,8 +39,10 @@ this could lead to significant path deviation due to multiple reasons: effectively get scaled down resulting in a slower execution. - The robot could scale down motions based on configured safety limits resulting in a slower motion than expected and therefore not reaching the desired target in a control cycle. - - Motions could not be executed at all, e.g. because the robot is E-stopped or in a protective stop or - the program interpreting motion commands is simply not running. + - Motions might not be executed at all, e.g. because the robot is E-stopped or in a protective stop + - Motion commands sent to the robot might not be interpreted, e.g. because there is no + [`external_control`](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#prepare-the-robot) + program node running on the robot controller. - The program interpreting motion commands could be paused. The following plot illustrates the problem: From 20789ac768f3b4c00959d6b923bc3cd9cd849a7c Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 21 Aug 2020 19:51:50 +0200 Subject: [PATCH 7/7] Replace time frame with control cycle --- ur_controllers/README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ur_controllers/README.md b/ur_controllers/README.md index baa5473e9..d3a3dda9d 100644 --- a/ur_controllers/README.md +++ b/ur_controllers/README.md @@ -53,9 +53,9 @@ The graph shows a trajectory with one joint being moved to a target point and ba point. As the joint's speed is limited to a very low setting on the teach pendant, speed scaling (black line) activates and limits the joint speed (green line). As a result, the target trajectory (light blue) doesn't get executed by the robot, but instead the pink trajectory is executed. -The vertical distance between the light blue line and the pink line is the path error in each time -frame. We can see that the path deviation gets above 300 degrees at some point and the target point -at -6 never gets reached. +The vertical distance between the light blue line and the pink line is the path error in each +control cycle. We can see that the path deviation gets above 300 degrees at some point and the +target point at -6 radians never gets reached. All of the cases mentioned above are addressed by the scaled trajectory versions. Trajectory execution can be transparently scaled down using the speed slider on the teach pendant without leading to @@ -72,5 +72,5 @@ robot reaches the intermediate setpoint instead of returning "too early" as in t Under the hood this is implemented by proceeding the trajectory not by a full time step but only by the fraction determined by the current speed scaling. If speed scaling is currently at 50% then -interpolation of the current time frame will start half a time step after the beginning of the -previous time frame. +interpolation of the current control cycle will start half a time step after the beginning of the +previous control cycle.