Middleware for Production Robotic System Modeling, Integration and Control

• Autorzy: Janusz Będkowski , Andrzej Masłowski
• Języki publikacji: EN

Abstrakty

EN

The paper presents the developed middleware dedicated to the industrial robotic system modeling, integration and control. Due to several vendors of industrial robots and industrial equipment which deliver different simulation tools with different communication software, there is a need to integrate several technologies to build unified distributed robotic system. The proposed middleware combined by CORBA (Common Object Request Broker Architecture) communication layer and NVIDIA PhysX rigid body simulation, solve the integration issues by providing the methodology for distributed control system development and validation in hybrid environment (virtual and real). CORBA is independent from operating system and programming language, it is used as integration tool. It should be noted that CORBA can be combined with another communication techniques. We show the example application with the DeviceNET communication link between industrial robot and high level control PC combined with proposed middleware for Human Machine Interface purpose. It is important to emphasize that the proposed approach can be adapted to the design the manufacturing system combined by industrial robots, mobile robots and intelligent sensors such as cameras. Therefore it can be starting point for multi agent robotic system design and development. In paper the process of development industrial robot system based on proposed middleware is shown. The advantages of the robotic system modeling, integration and control are investigated. (original abstract)

Słowa kluczowe

EN

Production process; Modeling of manufacturing processes; Production control

PL

Proces produkcji; Modelowanie procesów produkcji; Kontrola produkcji

• Czasopismo: Management and Production Engineering Review
• Rocznik: 2010
• Tom: 1
• Numer: nr 2
• Strony: 4--10

Twórcy

autor

Janusz Będkowski

• Warsaw University of Technology, Poland

autor

Andrzej Masłowski

• Warsaw University of Technology, Poland

Bibliografia

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