Trajectory following control of an articulated robot VE026A incorporated with ORiN2 SDK

Fusaomi Nagata, Akimasa Otsuka, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Industrial robots with an open architecture have been applied to several tasks such as machining, sanding, polishing and so on. The open architecture allows system engineers to realize desirable teachingless operation. However, transplantation of an application software to other makers' industrial robots is not easy even though having an open architecture, because the specifications of interface between PC and robots differ respectively. That is the reason why the standardization of industrial robots' interfaces is now being expected and desired from robotic users. Recently, ORiN (Open Robot/Resource interface for the Network) is gathering attention as a promising middleware for the standardization of robotic interfaces. In this paper, trajectory following control based on cutter location data (CL data) is developed on ORiN interface for an educational small robot VE026A with six-DOFs. The ORiN middleware is available on the robot. Trajectory following control of an end-effector attached to the flange of the robot is a basic but important strategy for robotic application without using any robot languages. The design with ORiN interface and its experiment are shown.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages51-54
Number of pages4
ISBN (Electronic)9788993215069
DOIs
Publication statusPublished - Dec 16 2014
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: Oct 22 2014Oct 25 2014

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CountryKorea, Republic of
CityGyeonggi-do
Period10/22/1410/25/14

Keywords

  • CL data
  • Industrial robot
  • ORiN (Open Robot/Resource interface for the Network)
  • Open architecture
  • Standardization of robotic interface
  • Trajectory following control
  • VE026A

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Nagata, F., Otsuka, A., & Watanabe, K. (2014). Trajectory following control of an articulated robot VE026A incorporated with ORiN2 SDK. In International Conference on Control, Automation and Systems (pp. 51-54). [6987957] (International Conference on Control, Automation and Systems). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987957