Name
Abstract | ||
|---|---|---|
The paper describes the design and implementation of a robot control system on a hardware platform based on a Programmable Logic Controller (PLC). The controlled robot is a 4 degrees of freedom (DOF) manipulator with a closed kinematic chain, designed for high-performance pick and place applications in a packaging workcell. The control software is fully developed on a commercial PLC system, using its standard programming tools and the multi-tasking features of its operating system. In particular, the paper analyse in detail the drawbacks and the advantages related to the choice of standard PLCs in this kind of applications, compared to the much common choice of specialized hardware or industrial personal computers, with particular emphasis on the computational performances obtained with the proposed control architecture. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152281 | ICRA |
Keywords | Field | DocType |
hardware platform,closed kinematic chain,commercial plc system,common choice,operating system,paper analyse,controlled robot,proposed control architecture,plc-based control,robot manipulator,particular emphasis,control software,robot control system,degree of freedom,robot kinematics,machine vision,hardware,packaging,kinematics,robot control,trajectory,application software,control systems,programmable logic controller | Robot control,Computer science,Robot kinematics,Control engineering,Programmable logic controller,Control system,Robot,Application software,Workcell,Kinematic chain | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 E-ISBN : 978-1-4244-2789-5 |
ISBN | Citations | PageRank |
978-1-4244-2789-5 | 0 | 0.34 |
References | Authors | |
1 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Marcello Bonfé | 1 | 66 | 12.78 |
| Vignali, Matteo | 2 | 0 | 0.34 |
| Fiorini, Mario | 3 | 0 | 0.34 |