An Integrated Software-based Solution for Modular and Self-independent Networked Robot

An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.Comment: 9 pages, Proceeding of the 10th International Conference on Control, Automation, Robotics and Visio

The KALI multi-arm robot programming and control environment

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded

New PC and LabVIEW Based Robot Control System

This paper presents a new economical solution of robot control system for different sophisticated robot applications. The control system is based on PC controlled servo motor control card and an intelligent control software, which has been developed using high level graphical programming language (LabVIEW). The basic development is an interface software for making connection between the control card and LabVIEW. LabVIEW gives a wide range of opportunity of utilisation of the developed control system at different robot applications. This paper shows a complete solution of robot control system for a ZIM 15 (KUKA license) type 6-axis robot. The DDA (Digital Differential Analysis) method and the closed loop control system of the servo motor control card are described. The programming of the control card and the time optimal trajectory planning method are presented, too

A system for programming the UMS-7 industrial robot

The paper gives an overview of some characteristic features of the software support of the controller for the UMS-7 industrial robot. The software is intended for textual robot programming and is implemented on a microprocessor based system

RCTS: A flexible environment for sensor integration and control of robot systems; the distributed processing approach

Most robot systems lack a suitable hardware and software environment for the efficient research of new control and sensing schemes. Typically, engineers and researchers need to be experts in control, sensing, programming, communication and robotics in order to implement, integrate and test new ideas in a robot system. In order to reduce this time, the Robot Controller Test Station (RCTS) has been developed. It uses a modular hardware and software architecture allowing easy physical and functional reconfiguration of a robot. This is accomplished by emphasizing four major design goals: flexibility, portability, ease of use, and ease of modification. An enhanced distributed processing version of RCTS is described. It features an expanded and more flexible communication system design. Distributed processing results in the availability of more local computing power and retains the low cost of microprocessors. A large number of possible communication, control and sensing schemes can therefore be easily introduced and tested, using the same basic software structure

A web-based teleoperative mobile robotic system : Master of Engineering in Information Engineering at Massey University, Albany, Auckland, New Zealand

With the rapid development of internet technology, it becomes real that human beings can access, modify and control a remote hardware device via internet connection. Such remote operations can replace the human to be present at a dangerous or unreachable place or can make as many as possible users to access the hardware in different places at a low cost. The thesis research was aimed at developing a web based mobile robot control framework for education purpose. It should be composed of a mobile robot. Http server, dynamic user interface and video server. With it users can view and control the real robot via a normal web browser and can choose to run either simulation or the real robot. This is done by setting up operational parameters via a friendly GUI (graphic user interface). Users also can upload and compile their own C code to control the robot and get back the running results. The main objectives of this thesis research are hardware upgrading for Nomadic Super Scout mobile robot and web based php programming. For the first objective, the onboard PC was replaced by a laptop that is remotely placed and connected to the robot control system via Bluetooth wireless. The Nserver for robot simulation was set up in the Linux operating environment. For the second objective, the software programming was focused on building a web control platform which should be user friendly. An Apache server was developed where PHP program was used for the user interface. The main advantage of using PHP is that it does not need to install or download any software or script to get access to the remote robot via a normal web browser on any operation like windows or Linux. The web-based mobile robot system was tested using two different cases. One case demonstrated how the user specifies a set of motion parameters of the robot that is programmed to perform a wall-following behaviour. The other demonstrated how the user uploads a collision avoidance program to run the robot that is placed among obstacles. Both case studies were performed in real environments and the results proved the success of the developed web-based robotic system

The digital code driven autonomous synthesis of ibuprofen automated in a 3D-printer-based robot

An automated synthesis robot was constructed by modifying an open source 3D printing platform. The resulting automated system was used to 3D print reaction vessels (reactionware) of differing internal volumes using polypropylene feedstock via a fused deposition modeling 3D printing approach and subsequently make use of these fabricated vessels to synthesize the nonsteroidal anti-inflammatory drug ibuprofen via a consecutive one-pot three-step approach. The synthesis of ibuprofen could be achieved on different scales simply by adjusting the parameters in the robot control software. The software for controlling the synthesis robot was written in the python programming language and hard-coded for the synthesis of ibuprofen by the method described, opening possibilities for the sharing of validated synthetic ‘programs’ which can run on similar low cost, user-constructed robotic platforms towards an ‘open-source’ regime in the area of chemical synthesis

Robot Operating System (Ros) dan Gazebo sebagai Media Pembelajaran Robot Interaktif

A robot is a prototype that is able to control by automatically to help the human work. Some of the parts to build a robot system are making the mechanical system, hardware, and software. The limitation of cost to make the robot hardware and programming skills are an obstacle to learn and develop the robot system. The development of the robot community nowadays makes the Robot Operating System (ROS) and Gazebo as an interactive media to learn and make the robot simulation. ROS is a middleware that equipped with tools and libraries to create a robot software, while Gazebo is a 3D simulation application to build a robot hardware design. On this paper, the researcher makes a robot simulation to avoid the object using Lidar sensor and camera, the simulation has developed using ROS and Gazebo that be able to use as a media for robot learning interactive

A software system for teaching and commanding the industrial robots

Design features of a software system for programming industrial robots with dynamic control are described. The software is intended for implementation an a microprocessor-based system and should enable the user to control a robot via specialized programming language RL. The paper contains description of the RL language and description of the system structure. Main characteristics and advantages of the system as well as questions concerning its realization on existing microprocessors are also discussed