An environment for open real-time control of an industrial robotic cell is presented in this paper. The experimental setup is composed of two industrial robot manipulators equipped with force/torque sensors and pneumatic grippers, a vision system and a belt conveyor. The original industrial robot controllers have been replaced by a single PC with software running under a real-time variant of the Linux operative system. The new control environment allows advanced control schemes to be developed and tested for the single robots and for the dual-arm robotic cell, including force control and visual servoing tasks. An advanced user interface and a simulation environment have been developed, which permit fast, safe and reliable prototyping of planning and control algorithms.

RePLiCS: An environment for open real-time control of a dual-arm industrial robotic cell based on RTAI-Linux

CACCAVALE, Fabrizio;
2005

Abstract

An environment for open real-time control of an industrial robotic cell is presented in this paper. The experimental setup is composed of two industrial robot manipulators equipped with force/torque sensors and pneumatic grippers, a vision system and a belt conveyor. The original industrial robot controllers have been replaced by a single PC with software running under a real-time variant of the Linux operative system. The new control environment allows advanced control schemes to be developed and tested for the single robots and for the dual-arm robotic cell, including force control and visual servoing tasks. An advanced user interface and a simulation environment have been developed, which permit fast, safe and reliable prototyping of planning and control algorithms.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11563/12114
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