Franka Emika Pandaを生かし続ける：信頼性の高い位置インターフェースを備えたROS 2スタック
Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
Franka Emika Pandaロボットの不安定な外部位置制御の原因を解析し、非同期ハードウェアインターフェースとレートマッチング機構を導入して信頼性の高いROS 2スタックを構築した。
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著者: Antonio Langella, Davide Risi, Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio
分類: cs.RO
原文アブストラクト
This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot while resolving the long-standing unreliability of its external position control interface. We first analyze the root causes of unstable position control and show that the observed vibrations and protective stops arise from the timing of the external control loop and sampling jitter, rather than from limitations of the robot itself. Building on this analysis, we introduce an asynchronous hardware interface that decouples real-time communication from the ROS 2 control loop, a rate-matching mechanism for slower command sources, and a position-domain reference generation strategy that produces reliable, smooth position commands. Experimental validation shows that the proposed architecture reliably tracks velocity references by reducing motion artifacts introduced by the official implementation, and the stack is validated across motion planning, compliance control, position-controlled manipulation, and haptic teleoperation on two independent Panda platforms. By restoring a modern, reliable, and open ROS 2 ecosystem for the Panda, this work lowers the barrier to developing safe, responsive, and reproducible human-robot collaboration applications that integrate planning, perception, interaction, and shared autonomy. Code and videos are available on our website at https://sites.google.com/view/fer-ros2/.