Open software/hardware architecture for advanced force/position control of an industrial robot
| Autor: | Arturo Velarde-Sanchez, Roberto Sosa-Cruz, Luis A. Garcia-Zarco, L.G. Garcia-Valdovinos |
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| Rok vydání: | 2016 |
| Předmět: |
Hardware architecture
030213 general clinical medicine 0209 industrial biotechnology Engineering business.industry Control engineering 02 engineering and technology Servomotor Robot control law.invention 03 medical and health sciences Industrial robot 020901 industrial engineering & automation 0302 clinical medicine Control theory law Robot Servo drive Open architecture business |
| Zdroj: | 2016 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC). |
| DOI: | 10.1109/ropec.2016.7830527 |
| Popis: | In an academic and research environment, open control architectures are crucial for evaluating new control laws and multi-sensor integration. Unfortunately, most commercial robot manufacturers do not provide open control architectures. To deal with this issue, in this paper the open architecture of the Catalyst-5 robot manipulator manufactured by Thermo Scientific is presented. The original control box was replaced by a custom-made controller fitted with servo drives and additional electronics to manipulate encoders and control the robot manipulator. A data acquisition card is located inside of a PC, which in turn hosts the control law. To validate the performance of the proposed open architecture a force/position controller based on the principle of orthogonalization was implemented. Experimental results demonstrate that the present open software/hardware control architecture is suitable and reliable for the implementation of complex tasks involving advanced control strategies. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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