Model-based hardware in the loop control of collaborative robots

Detalhes bibliográficos
Autor(a) principal: Safeea, Mohammad
Data de Publicação: 2020
Outros Autores: Neto, Pedro, Béarée, Richard
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10316/101539
https://doi.org/10.1016/j.promfg.2020.10.020
Resumo: Simulation and model-based design software packages are widely used in many engineering disciplines. When it comes to robotics those tools are very important for robot design, simulation and the development of control algorithms before the implementation on the real robot. Simulink by MathWorksR is an advanced model-based design tool. It is popular in education, industry and research. In addition, Simulink supports several hardware components, facilitating a rapid deployment of the developed programs on the target hardware. In this study, the SimulinkIIWA interface for controlling KUKA iiwa robots from Simulink is presented and compared to the KUKA Sunrise Toolbox (KST). This interface is based on the User Datagram Protocol (UDP) and allows graphical real-time control of iiwa robots from Simulink without a need for writing any code. The interface supports different robot control modes, at the joints level and at the end-effector (EEF) level. Example applications are also provided showing the flexibility and the ease of use of the proposed interface
id RCAP_cccf946992f7d2fadf0ce6a4daab8d87
oai_identifier_str oai:estudogeral.uc.pt:10316/101539
network_acronym_str RCAP
network_name_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository_id_str 7160
spelling Model-based hardware in the loop control of collaborative robotsCollaborative RobotsModel-based designSimulinkHardware in the loop controlSimulation and model-based design software packages are widely used in many engineering disciplines. When it comes to robotics those tools are very important for robot design, simulation and the development of control algorithms before the implementation on the real robot. Simulink by MathWorksR is an advanced model-based design tool. It is popular in education, industry and research. In addition, Simulink supports several hardware components, facilitating a rapid deployment of the developed programs on the target hardware. In this study, the SimulinkIIWA interface for controlling KUKA iiwa robots from Simulink is presented and compared to the KUKA Sunrise Toolbox (KST). This interface is based on the User Datagram Protocol (UDP) and allows graphical real-time control of iiwa robots from Simulink without a need for writing any code. The interface supports different robot control modes, at the joints level and at the end-effector (EEF) level. Example applications are also provided showing the flexibility and the ease of use of the proposed interface2020info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/101539http://hdl.handle.net/10316/101539https://doi.org/10.1016/j.promfg.2020.10.020eng23519789Safeea, MohammadNeto, PedroBéarée, Richardinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2022-08-30T20:39:35Zoai:estudogeral.uc.pt:10316/101539Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T21:18:42.528876Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Model-based hardware in the loop control of collaborative robots
title Model-based hardware in the loop control of collaborative robots
spellingShingle Model-based hardware in the loop control of collaborative robots
Safeea, Mohammad
Collaborative Robots
Model-based design
Simulink
Hardware in the loop control
title_short Model-based hardware in the loop control of collaborative robots
title_full Model-based hardware in the loop control of collaborative robots
title_fullStr Model-based hardware in the loop control of collaborative robots
title_full_unstemmed Model-based hardware in the loop control of collaborative robots
title_sort Model-based hardware in the loop control of collaborative robots
author Safeea, Mohammad
author_facet Safeea, Mohammad
Neto, Pedro
Béarée, Richard
author_role author
author2 Neto, Pedro
Béarée, Richard
author2_role author
author
dc.contributor.author.fl_str_mv Safeea, Mohammad
Neto, Pedro
Béarée, Richard
dc.subject.por.fl_str_mv Collaborative Robots
Model-based design
Simulink
Hardware in the loop control
topic Collaborative Robots
Model-based design
Simulink
Hardware in the loop control
description Simulation and model-based design software packages are widely used in many engineering disciplines. When it comes to robotics those tools are very important for robot design, simulation and the development of control algorithms before the implementation on the real robot. Simulink by MathWorksR is an advanced model-based design tool. It is popular in education, industry and research. In addition, Simulink supports several hardware components, facilitating a rapid deployment of the developed programs on the target hardware. In this study, the SimulinkIIWA interface for controlling KUKA iiwa robots from Simulink is presented and compared to the KUKA Sunrise Toolbox (KST). This interface is based on the User Datagram Protocol (UDP) and allows graphical real-time control of iiwa robots from Simulink without a need for writing any code. The interface supports different robot control modes, at the joints level and at the end-effector (EEF) level. Example applications are also provided showing the flexibility and the ease of use of the proposed interface
publishDate 2020
dc.date.none.fl_str_mv 2020
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10316/101539
http://hdl.handle.net/10316/101539
https://doi.org/10.1016/j.promfg.2020.10.020
url http://hdl.handle.net/10316/101539
https://doi.org/10.1016/j.promfg.2020.10.020
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 23519789
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
_version_ 1799134081098711040

Registros relacionados