Title :
An open industrial robot based on SERCOS
Author :
Cao, Xianliang ; Zhao, Yannan ; Yang, Zehong ; Wang, Jiaxin ; Jia, Peifii
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China
Abstract :
The paper presents a type of open industrial robot which is designed for processing armor plates of ship. It is the first robot based on SERCOS in China. With a so-called water-fire procedure, the robot can make an original plate the desirable shape. To deal with the diversity of the plates and the unexpected distortion during the processing, we promote a method called "measure instruct processing". The implementation of self-adaptive processing is discussed in the article.
Keywords :
field buses; industrial robots; open systems; protocols; real-time systems; self-adjusting systems; synchronisation; SERCOS; distortion; measure instruct processing; open industrial robot; real-time control; self-adaptive processing; ship armor plates; water-fire procedure; Control systems; Digital signal processing; Field buses; Intelligent robots; Marine vehicles; Motion control; Protocols; Robot control; Service robots; Shipbuilding industry;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020827
