Robot Control MRobot

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1 Laboratory CIM & Robotik Prof. Dipl.-Ing. Georg Stark Robot Control MRobot 1. Development Process of Industrial Control Units 2. Characteristics of MRobot - Functionality - Software Structure - Benefits 3. Application Examples - Controlling Lightweight Robot - Synchronous 3D Graphical Simulation - Distance Sensor - Object Tracing Automation Robotics University of Applied Sciences 2/23/ Folie 1

2 Development Process Industrial Control Units Objectives Improved Maintainability of Software Cost Efficiency Optimal Information Flow between involved Personnel High Functionality of Software Approach: Improved Software Technology Combination of model-based, component-oriented, object-oriented Programming Methods Automation Robotics University of Applied Sciences 2/23/ Folie 2

3 Development Process Analysis and Design Representation of Information by using Design Diagram abstract Product Idea Requirement Specification Analysis - Formalization Formal Model Architecture Substructures Source Code Design - Concretion concret e nonformal Executable Code formal Automation Robotics University of Applied Sciences 2/23/ Folie 3

4 Comparison of Programming Paradigms Object-Oriented Programming Design: Representation of Structure of Knowledge by Classes, Safety, Reusability of Software Implementation: General Purpose Language Component-Oriented Programming Design: Definition of Executable Structures Implementation: Exchangeability (Plugins), Various Languages to Be Used Model-Based Programming Analysis: Representation of Knowledge by Formal Models Design: Models Define Software Structure Implementation: Domain-Specific Language Automation Robotics University of Applied Sciences 2/23/ Folie 4

5 Functions: 1 12 Motion Axis Interpolation Modes: - Point to Point - Linear, Including Polynom-Bypassing - Circular - Spline Sensor Control Offline-Programming with Realtime Graphical Simulation Powerful Applicationspecific Programming Language (MATLAB Script) Automation Robotics University of Applied Sciences 2/23/ Folie 5

6 Control Panel: Automation Robotics University of Applied Sciences 2/23/ Folie 6

7 Software Technology: Combination of - model-based, - component-oriented, - object-oriented Programming Implementation Languages: C++, MATLAB-Script Operating System: Microsoft Windows Automation Robotics University of Applied Sciences 2/23/ Folie 7

8 Software Structure Components, Interfaces Graphical Simulation OpenGL Realtime Graphics Robot CAN Sensor CAN, RS 232 COM Realtime Kernel with Sensor Interface COM Robot Motion Control Application Software Automation Robotics University of Applied Sciences 2/23/ Folie 8

9 User-Benefits: MATLAB-Interface: - Robot-Systemsoftware - Application Software Easy Programming: - Applicable by Robot Experts, not Having Intensive Programming Skills Decreased Costs for Development and Maintenance Automation Robotics University of Applied Sciences 2/23/ Folie 9

10 Controlling Lightweight Robot of Schunk Company Automation Robotics University of Applied Sciences 2/23/ Folie 10

11 Synchronous Execution and Simulation Automation Robotics University of Applied Sciences 2/23/ Folie 11

12 Simulation of KUKA Robot KR15 Automation Robotics University of Applied Sciences 2/23/ Folie 12

13 Motion Control by Distance Sensor Automation Robotics University of Applied Sciences 2/23/ Folie 13

14 Costeffective Collision Detection by 3D-Webcam Automation Robotics University of Applied Sciences 2/23/ Folie 14

15 Object Tracing by 3D-Webcam Automation Robotics University of Applied Sciences 2/23/ Folie 15

16 Laboratory CIM & Robotik Internet Presentation Homepage: Book: Robotik mit MATLAB: MATLAB User Story: Laboratory CIM & Robotik: Automation Robotics University of Applied Sciences 2/23/ Folie 16

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