An Open-architecture Robot Controller applied to Interaction Tasks

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.

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

2008 IEEE Latin American Robotic Symposium ◽

10.1109/lars.2008.9 ◽

2008 ◽

Cited By ~ 1

Author(s):

André Schneider de Oliveira ◽

Edson Roberto De Pieri ◽

Daniel Martins ◽

Ubirajara Franco Moreno

Keyword(s):

Open Architecture ◽

Robot Controller

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Development of an industrial robot controller with open architecture

2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) ◽

10.1109/iccis.2017.8274873 ◽

2017 ◽

Cited By ~ 1

Author(s):

Luping Chen ◽

Yuqiang Wu ◽

Zhiguo Du ◽

Tao Tao ◽

Fei Zhao

Keyword(s):

Industrial Robot ◽

Open Architecture ◽

Robot Controller

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An FPGA-Based Open Architecture Industrial Robot Controller

IEEE Access ◽

10.1109/access.2018.2797803 ◽

2018 ◽

Vol 6 ◽

pp. 13407-13417 ◽

Cited By ~ 5

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

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A component-based architecture for robot control

Sba Controle & Automação Sociedade Brasileira de Automatica ◽

10.1590/s0103-17592011000400007 ◽

2011 ◽

Vol 22 (4) ◽

pp. 398-411 ◽

Cited By ~ 1

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.

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

Electronics ◽

10.3390/electronics9060972 ◽

2020 ◽

Vol 9 (6) ◽

pp. 972 ◽

Cited By ~ 3

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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