Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A PC-Based Open Robot Control System : PC-ORC

PC에 기반을 둔 개방형 로봇제어시스템 : PC-ORC

  • 김점구 (부산대학교 대학원 지능기계공학과) ;
  • 최경현 (제주대학교 기계에너지생산공학부) ;
  • 홍금식 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2000.05.01
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Abstract

An open architecture manufacturing strategy intends to integrate manufacturing components on a single platform so that a particular component can be easily added and/or replaced. Therefore, the control scheme based upon the open architecture concept is hardware-independent. In this paper, a modular and object oriented approach for a PC-based open robot control system is investigated. A standard reference model for robot systems, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then, a PC-based Open Robot Controller(PC-ORC), which can reconfigure robot control systems in various production environments, is developed. The PC-ORC is built upon the object-oriented method, and allows an easy implementation and modification of various modules. The PC-ORC consists of basic softwares, application objects, and additional hardware device on the PC Platform. The application objects are: sequencer, computation unit, servo control, ancillary equipment, external sensor control, and so on. In order to demonstrate the applicability of the PC-ORC, the proposed PC-ORC configuration is applied to an industrial SCARA robot system.

Keywords

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