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A modular control system for flexible robotized manufacturing cells

Published online by Cambridge University Press:  01 January 1999

Peter Kopacek
Affiliation:
Institute for Handling Devices and Robotics, Vienna University of Technology, Floragasse 7A, A-1040 Vienna, Austria. E-mail: {kopacek,kronreif,probst}@ihrt1.ihrt.tuwien.ac.at
Gernot Kronreif
Affiliation:
Institute for Handling Devices and Robotics, Vienna University of Technology, Floragasse 7A, A-1040 Vienna, Austria. E-mail: {kopacek,kronreif,probst}@ihrt1.ihrt.tuwien.ac.at
Robert Probst
Affiliation:
Institute for Handling Devices and Robotics, Vienna University of Technology, Floragasse 7A, A-1040 Vienna, Austria. E-mail: {kopacek,kronreif,probst}@ihrt1.ihrt.tuwien.ac.at

Abstract

In co-operation with an Austrian small sized company, the Institute for Handling Devices and Robotics at the Vienna University of Technology started a project with the goal to reduce the time necessary for planning, programming and set-up of robot equipped manufacturing cells. In this contribution a modular, object-oriented control system for robotized cells is presented. This system ‘C_CTRL' is responsible for all necessary tasks, like sequencing, supervising, controlling of basic functions, error handling, and recording of statistic data. The control system is ‘self-generating' during program start-up – using hardware information from a simple ASCII configuration file. Regardless which and how many components used in a particular cell, there is no additional programming effort for generation of the entire control software.

Type
Research Article
Copyright
© 1999 Cambridge University Press

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