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Paper Abstract and Keywords
Presentation 2026-01-29 14:00
Timing Verification and Validation Analysis of ROS-based Implementation in Industrial Robot Control
Kazuhito Mine, Diunuge Buddhika Wijesinghe, Choisuren Purevdorj, Ahmad Altaweel, Obada Al Aama, Hakaru Tamukoh, Hiroaki Wagatsuma (Kyutech) NLP2025-106 MBE2025-46 NC2025-68
Abstract (in Japanese) (See Japanese page) 
(in English) In this study, we evaluated the timing characteristics and performance of the ROS-based control system for the industrial robot MOTOMAN GP-8. As industrial robots gain importance in addressing labor shortages in Japan’s manufacturing sector, modularizing control systems with ROS supports long-term reuse of existing assets. However, delays and jitter from standard drivers raise concerns for real-time control. To quantitatively assess movement start delay, completion delay, and their jitter in action-based motion commands, we built a fenced experimental setup and conducted square-trajectory tracking experiments. Timing was measured using joint velocity thresholds and action status changes to evaluate the practicality of the ROS implementation. Experimental results show an average end-to-end latency of 2352 ms for a commanded execution time of 2 s, exceeding the nominal duration by about 350 ms. Worst-case latency approaches 2.5 s with 77 ms jitter. Per-cluster analysis indicates timing variability is largely independent of motion characteristics. Overall, ROS-based control systems exhibit bounded, repeatable timing but do not satisfy hard real-time constraints without additional system-level guarantees.
Keyword (in Japanese) (See Japanese page) 
(in English) Industrial Robot / ROS / Timing Verification / Validation Analysis / MOTOMAN GP-8 / Inter-Process Communication / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 346, NC2025-68, pp. 96-101, Jan. 2026.
Paper # NC2025-68 
Date of Issue 2026-01-21 (NLP, MBE, NC) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NLP2025-106 MBE2025-46 NC2025-68

Conference Information
Committee NC MBE NLP IEE-MBE  
Conference Date 2026-01-28 - 2026-01-30 
Place (in Japanese) (See Japanese page) 
Place (in English) Kyushu Institute of Technology, Wakamatsu Campus 
Topics (in Japanese) (See Japanese page) 
Topics (in English) NC, NLP, ME, etc. 
Paper Information
Registration To NC 
Conference Code 2026-01-NC-MBE-NLP-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Timing Verification and Validation Analysis of ROS-based Implementation in Industrial Robot Control 
Sub Title (in English)  
Keyword(1) Industrial Robot  
Keyword(2) ROS  
Keyword(3) Timing Verification  
Keyword(4) Validation Analysis  
Keyword(5) MOTOMAN GP-8  
Keyword(6) Inter-Process Communication  
Keyword(7)  
Keyword(8)  
1st Author's Name Kazuhito Mine  
1st Author's Affiliation Kyushu Institute of Technology (Kyutech)
2nd Author's Name Diunuge Buddhika Wijesinghe  
2nd Author's Affiliation Kyushu Institute of Technology (Kyutech)
3rd Author's Name Choisuren Purevdorj  
3rd Author's Affiliation Kyushu Institute of Technology (Kyutech)
4th Author's Name Ahmad Altaweel  
4th Author's Affiliation Kyushu Institute of Technology (Kyutech)
5th Author's Name Obada Al Aama  
5th Author's Affiliation Kyushu Institute of Technology (Kyutech)
6th Author's Name Hakaru Tamukoh  
6th Author's Affiliation Kyushu Institute of Technology (Kyutech)
7th Author's Name Hiroaki Wagatsuma  
7th Author's Affiliation Kyushu Institute of Technology (Kyutech)
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Speaker Author-1 
Date Time 2026-01-29 14:00:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NLP2025-106, MBE2025-46, NC2025-68 
Volume (vol) vol.125 
Number (no) no.344(NLP), no.345(MBE), no.346(NC) 
Page pp.96-101 
#Pages 6 
Date of Issue 2026-01-21 (NLP, MBE, NC) 

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