Publikation
Wireless Robotic Motion Controller: System Architecture and Latency Assessment
Jan Petershans; Florian Lehn; Jan Herbst; Hans Dieter Schotten
In: 2025 IEEE 21st International Conference on Factory Communication Systems (WFCS). IEEE International Conference on Factory Communication Systems (WFCS-2025), June 10-13, Rostock, Germany, IEEE, 6/2025.
Zusammenfassung
Telerobotics has the potential to transform robotic operations across various domains, including industrial automation, medical robotics, and the chemical sector, where accurate and timely interventions are paramount. Wireless communication is pivotal in expanding the practical applications of telerobotic systems, enabling untethered, and flexible operation. To achieve precise teleoperation, low-latency motion controllers are required that enable seamless and intuitive human-machine interaction. This work presents the design and implementation of a wireless motion controller device for accurate telerobotic operation within the Robot Operating System (ROS) framework. By combining optical-active position tracking using a high-precision Motion Capture (MoCap) system and low-latency wireless communication, the setup facilitates a responsive and interactive human-robot interface. Experimental evaluations of the integrated system demonstrate accurate teleoperation control of a 7 -axis collaborative robot (cobot). Additionally the impact of the different system components on the end-to-end latency is analyzed with robotic actuation and processing time of the MoCap system identified as the primary contributors. The results confirm the viability of wireless teleoperation and highlight opportunities for future research and optimization in telerobotic systems.