论文标题
一个模块化的机器人手臂控制堆栈用于研究：Franka-Interface and Francapy
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
论文作者
论文摘要
我们设计了一个模块化的机器人控制堆栈，为Franka Emika Panda Research Robot提供了可自定义且可访问的界面。该框架将高级机器人控制命令抽象为技能，这些命令被分解为轨迹发生器，反馈控制器和终止处理程序的组合。低级控制在C ++中实现，并以$ 1 $ kHz的速度运行，高级命令在Python中暴露出来。此外，可以实时将外部传感器反馈（例如估计的对象姿势）实时流式传输到低级控制器。这种模块化方法使我们能够快速原型新的控制方法，这对于研究应用程序至关重要。我们已经在超过$ 5 $发表的研究论文中应用了各种现实世界机器人任务的框架。该框架目前与卡内基·梅隆大学（Carnegie Mellon University）的其他机器人实验室内部共享，我们计划在不久的将来发布公开发布。
We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into combinations of trajectory generators, feedback controllers, and termination handlers. Low-level control is implemented in C++ and runs at $1$kHz, and high-level commands are exposed in Python. In addition, external sensor feedback, like estimated object poses, can be streamed to the low-level controllers in real time. This modular approach allows us to quickly prototype new control methods, which is essential for research applications. We have applied this framework across a variety of real-world robot tasks in more than $5$ published research papers. The framework is currently shared internally with other robotics labs at Carnegie Mellon University, and we plan for a public release in the near future.
