In this master’s thesis, a comparative analysis was conducted on the control of the industrial robot Yaskawa HC20 DTP using two approaches: the established MotoPlus system and the new MotoROS2 system, which is based on the opensource ROS2 environment. The aim of the thesis was to compare the motion execution accuracy and implementation complexity of both systems.
The comparison was carried out based on movements along individual axes (X, Y, Z) and planes (XY, YZ, XZ), at two different speeds (50 mm/s and 100 mm/s), and using two types of motion (LIN and PTP). Each trajectory was divided into three key points: the starting point to assess initial position repeatability, the maximum point to analyze accuracy during upward movement, and the minimum
point to evaluate accuracy at lower extremes. Measurements were performed using the Leica AT960 system and the wireless T-Mac probe. The results were compared with simulations and used to calculate motion accuracy errors.
The analysis showed that there were no significant differences in accuracy between the MotoPlus and MotoROS2 control systems for LIN and PTP motions. Linear motions proved to be more accurate. It was found that the use of the MotoROS2 system is particularly suitable for advanced users already operating within the ROS2 environment and who have appropriately trained personnel.
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