On adding IEC61131-3 support to ROS based robots

Author

de Sousa, Mario ; Sobreira, Heber

Author_Institution

Fac. de Eng., Univ. do Porto, Porto, Portugal

fYear

2013

fDate

10-13 Sept. 2013

Firstpage

1

Lastpage

4

Abstract

ROS (Robot Operating System) is a framework for the development of robotic applications widely used throughout research community due to its modular architecture and distributed nature. Using this framework a robot application consists of several nodes that exchange data over a common middle-ware. Programming new nodes is done by using a ROS API (application programming interface) on one of the available programming languages, such as C++ and python. It is our intention to build a robot that needs to be partially programmed in IEC 61131-3, allowing the end-user to adapt it to any specific industrial environment. In this work we have specified a mapping between the concepts defined in IEC 61131-3 and ROS, and started implementing a library through which IEC 61131-3 programs may co-ordinate their actions with the remaining ROS based robotic application.

Keywords

IEC standards; operating systems (computers); robot programming; IEC 61131-3 programs; ROS API; ROS based robots; application programming interface; distributed nature; middleware; modular architecture; programming languages; robot operating system; Arrays; IEC standards; Programming; Robot sensing systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies & Factory Automation (ETFA), 2013 IEEE 18th Conference on

Conference_Location

Cagliari

ISSN

1946-0740

Print_ISBN

978-1-4799-0862-2

Type

conf

DOI

10.1109/ETFA.2013.6648142

Filename

6648142