Title :
Research of Welding Robot Controlled by PMAC and ARM Two Processors
Author :
Miao Xingang ; Wang Su ; Yan Zheng ; Chen Jiang
Author_Institution :
Sch. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing
Abstract :
Using the Delta Taupsilas PMAC (programmable multi-axis controller) as the kernel of control, which can carry out all sorts of algorithm in welding robot. Using Philipspsila ARM (advance RISC machines) as the kernel of peripheral interface, so it can communicate with PMAC by RS-232C, it can communicate with laser seam tracking system by another RS-232C, it can communicate with robot manipulator by CAN-bus, it can communicate with welding machine by Ethernet, and it can communicate with host PC by USB. Using muC/OS-II as operating system in this ARM-based processor, which makes customerpsilas software Real-time and robust.
Keywords :
controller area networks; manipulators; programmable controllers; reduced instruction set computing; robotic welding; ARM; CAN-bus; Ethernet; PMAC; advance RISC machines; laser seam tracking system; programmable multiaxis controller; robot manipulator; welding machine; welding robot; Ethernet networks; Kernel; Manipulators; Operating systems; Real time systems; Reduced instruction set computing; Robot control; Robustness; Universal Serial Bus; Welding; µC/OS-II; ARM; CAN; Ethernet; PMAC; RS-232C;
Conference_Titel :
Informatics in Control, Automation and Robotics, 2009. CAR '09. International Asia Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-3331-5
DOI :
10.1109/CAR.2009.34
