How to make real-time teleoperation smoothly without delay?

kazookazoo San Francisco

I'm trying to control a robot by using space mouse connected to the remote PC. I use socket connection between PC (running Python code [Open ABB]) and Robot (RAPID) to send consecutive MoveL command, and the movement is not smooth (shaky) sometimes and has some delays. I guess this is because I sent too many consecutive instructions in a short time. 

Are there any ways to skip some instructions that have already been queued to RAPID (maybe by using Program Pointer?)?

Also, are there any ways to change the ratio of streaming points like UR or Motman (maybe changing some setting parameters of Queue Time?)?
(ref: https://groups.google.com/forum/#!topic/swri-ros-pkg-dev/n5SGB07p01k)

Regarding the delay issue, is it better to change the communication from TCP/IP to Ethernet?
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