Title :
The design of an open controller for an industrial robot
Author :
Zuo, Jinyu ; Zhao, Yannan ; Wang, Jiaxin ; Yang, Zehong ; Jia, Peifa
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China
Abstract :
This paper presents an open controller which is designed for bending the hull steel plates. It is an industrial robot that is based on the SERCOS bus and carries out a so-called "bending by line heating" procedure in China. To treat with the diversity of the original steel plates\´ shapes, we designed an open controller for it. The controller is open because it provides a set of instructions with which the end user can compile different programs according to the different working procedures. A positioning method used in the saddle type plate forming is also introduced.
Keywords :
bending; control system synthesis; forming processes; heating; industrial robots; open loop systems; position control; real-time systems; ships; steel; SERCOS bus; bending; expert system; hull steel plates; industrial robot; open controller design; positioning method; saddle type plate forming; serial real time communication system; Electrical equipment industry; Expert systems; Heating; Industrial control; Paper technology; Position measurement; Robot kinematics; Service robots; Shape measurement; Steel;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1342410
