Open Architecture of Robot Control System Based on PROFI-BUS

Xiao Dong Tan; Feng Tan; Kun Zhang; Bao Liang Li

doi:10.4028/www.scientific.net/KEM.419-420.581

Paper Titles

A Stereo Vision Based Target Tracking and Obstacle Avoidance
p.565

Image Processing Algorithm for Tracking and Picking an Object for an Open Platform Mobile Robot
p.569

Passivity-Based Rotor Time Constant Estimation and Adaptive Position Control of Induction Machines
p.573

On the Firing Test Properties of Thinfilm Metallic Initiators
p.577

Open Architecture of Robot Control System Based on PROFI-BUS
p.581

Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics
p.585

A Measurement Fusion Fault-Tolerating PID Control for Time-Delay System with Colored Noise Disturbance
p.589

Stabilization Control of Nonholonomic Wheeled Mobile Service Robots
p.593

Modeling of Flexspline and Contact Analyses of Harmonic Drive
p.597

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Open Architecture of Robot Control System Based on PROFI-BUS

Abstract:

A PROFI-BUS based industrial robot control system is introduced from the viewpoint of both software and hardware. It is discussed about how to use PC technology and field-bus technology to design an open robot control system. The system adopts a three- layer structure, which is mainly configured with universal control devices, to realize a modular and universal design. A high-speed field-bus is designed for connecting servo system and IPC, to ensure real-time capability; another low-speed Field-bus is used to connect IPC and PLC, HMI, teaching panel and other devices for data exchange, while reducing the occupancy of system resources. The software system adopts the modular design with Windows NT and RTX, which fully exploits the powerful functions of Window NT system and meets the requirements of real-time system. This open structure greatly enhances the system's flexibility and openness.