Title :
yControl - Open architecture controller for Yaskawa Motoman MH5 robot
Author :
Mihelj, M. ; Slajpah, S. ; Cepon, P. ; Munih, Marko
Author_Institution :
Fac. of Electr. Eng., Univ. of Ljubljana, Ljubljana, Slovenia
Abstract :
Industrial robot manipulators have reached a stage where their mechanical characteristics are well optimized. However, industrial hardware and software control architectures are rarely open for sensor integration. In order to overcome these constraints, custom-designed hardware interfaces and software algorithms need to be designed. The paper summarizes the implementation of yControl - an open architecture controller for industrial robot Yaskawa Motoman MH5. Custom hardware and software solutions are presented. Details are provided for the Matlab/Simulink based Robotica library. An example application showing a bimanual and bilateral teleoperation system is analyzed.
Keywords :
control engineering computing; industrial manipulators; optimisation; sensors; software architecture; Matlab; Robotica library; Simulink; Yaskawa Motoman MH5 robot; custom designed hardware interface; industrial hardware architecture; industrial robot manipulator; mechanical characteristics; open architecture controller; optimisation; sensor integration; software algorithm; software control architecture; yControl; Computer architecture; Hardware; Joints; Robot sensing systems; Safety; Service robots; Matlab xPC Target; Open architecture robot control; education and research; industrial and research robots; robot control and haptic library; robot low-level control interfaces; software tools and code generation;
Conference_Titel :
Control Applications (CCA), 2012 IEEE International Conference on
Conference_Location :
Dubrovnik
Print_ISBN :
978-1-4673-4503-3
Electronic_ISBN :
1085-1992
DOI :
10.1109/CCA.2012.6402449
