A Five-layers Open-Architecture Robot Controller Applied to Interaction Tasks

2008 ◽  
Author(s):  
André Schneider de Oliveira ◽  
Edson Roberto De Pieri ◽  
Daniel Martins ◽  
Ubirajara Franco Moreno
Keyword(s):  
Open Architecture ◽  
Robot Controller

scholarly journals Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Chong Wang ◽  
Dongxue Liu ◽  
Qun Sun ◽  
Tong Wang
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Open Architecture ◽  
Model Parameters ◽  
Structural Variations ◽  
Robot Controller ◽  
Kinematic Models ◽  
Kinematic Studies

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

scholarly journals An FPGA-Based Open Architecture Industrial Robot Controller

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 13407-13417 ◽  
Author(s):  
Miguel-Angel Martinez-Prado ◽  
Juvenal Rodriguez-Resendiz ◽  
Roberto-Augusto Gomez-Loenzo ◽  
Gilberto Herrera-Ruiz ◽  
Luis-Alfonso Franco-Gasca
Keyword(s):  
Industrial Robot ◽  
Open Architecture ◽  
Robot Controller

scholarly journals A component-based architecture for robot control

2011 ◽  
Vol 22 (4) ◽  
pp. 398-411 ◽  
Author(s):  
Diego Caberlon Santini ◽  
Walter Fetter Lages
Keyword(s):  
Real Time ◽  
Robot Control ◽  
Open Architecture ◽  
Robot Controller ◽  
Definition Of ◽  
Component Models ◽  
Manipulator Robot

This work deals with the specification of an open architecture for control of manipulator robots. The architecture defines policies for the use of the OROCOS framework and is specified for a generic manipulator robot with N joints, through the definition of component models to abstract the hardware and each block of the robot controller. To show its generality, the proposed architecture is used to implement two different controllers: an independent PID for each joint and controller with feedforward compensation. The validation is made through the implementation in real-time on the Janus robot.

scholarly journals Two Open Solutions for Industrial Robot Control: The Case of PUMA 560

Electronics ◽  
2020 ◽  
Vol 9 (6) ◽  
pp. 972 ◽  
Author(s):  
Dejan Jokić ◽  
Slobodan Lubura ◽  
Vladimir Rajs ◽  
Milan Bodić ◽  
Harun Šiljak
Keyword(s):  
Real Time ◽  
Industrial Robot ◽  
Time Windows ◽  
Third Party ◽  
Open Architecture ◽  
Fpga Design ◽  
Robot Controller ◽  
Control Units ◽  
Field Programmable ◽  
Hardware Description

In this paper we present two different, software and reconfigurable hardware, open architecture approaches to the PUMA 560 robot controller implementation, fully document them and provide the full design specification, software code and hardware description. Such solutions are necessary in today’s robotics and industry: deprecated old control units render robotic installations useless and allow no upgrades, advancements, or innovation in an inherently innovative ecosystem. For the sake of simplicity, just the first robot axis is considered. The first approach described is a PC solution with data acquisition I/O board (Humusoft MF634). This board is supported with Matlab Real-Time Windows Toolbox for real-time applications and thus whole controller was designed in Matlab environment. The second approach is a robot controller developed on field programmable gate arrays (FPGA) board. The complexity of FPGA design can be overcome by using a third party software package, such as self-developed Matlab FPGA Real Time Toolbox. In both cases, parameters of motion controller are calculated by using simulation of the PUMA 560 robot first axis motion. Simulations were conducted in Matlab/Simulink using Robotics Toolbox.

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