EGM Toolbox—Interface for Controlling ABB Robots in Simulink
The development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/22/7463 |
| _version_ | 1797508524774785024 |
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| author | Paweł Obal Piotr Gierlak |
| author_facet | Paweł Obal Piotr Gierlak |
| author_sort | Paweł Obal |
| collection | DOAJ |
| description | The development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions that can allow detection and avoidance of obstacles appearing on the robot’s path and that can compensate the path for low-repetitive workpieces, adjust the strength of the impact of manipulator tools on the workpiece or enable safe cooperation of manipulators with people. To support this development, this work proposes an interface for controlling industrial robots in the Simulink environment. With its use, we can easily test our control algorithms using an external controller without the need to write an extensive program in the RAPID language. The robot controller’s task is to control the drives to achieve the set trajectory. |
| first_indexed | 2024-03-10T05:05:08Z |
| format | Article |
| id | doaj.art-928669903ea04d249cb09dbaa68a0890 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T05:05:08Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-928669903ea04d249cb09dbaa68a08902023-11-23T01:23:40ZengMDPI AGSensors1424-82202021-11-012122746310.3390/s21227463EGM Toolbox—Interface for Controlling ABB Robots in SimulinkPaweł Obal0Piotr Gierlak1Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, al. Powstańców Warszawy 12, 35-959 Rzeszów, PolandDepartment of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, al. Powstańców Warszawy 12, 35-959 Rzeszów, PolandThe development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions that can allow detection and avoidance of obstacles appearing on the robot’s path and that can compensate the path for low-repetitive workpieces, adjust the strength of the impact of manipulator tools on the workpiece or enable safe cooperation of manipulators with people. To support this development, this work proposes an interface for controlling industrial robots in the Simulink environment. With its use, we can easily test our control algorithms using an external controller without the need to write an extensive program in the RAPID language. The robot controller’s task is to control the drives to achieve the set trajectory.https://www.mdpi.com/1424-8220/21/22/7463industrial robotrobot control interfaceposition–force control |
| spellingShingle | Paweł Obal Piotr Gierlak EGM Toolbox—Interface for Controlling ABB Robots in Simulink Sensors industrial robot robot control interface position–force control |
| title | EGM Toolbox—Interface for Controlling ABB Robots in Simulink |
| title_full | EGM Toolbox—Interface for Controlling ABB Robots in Simulink |
| title_fullStr | EGM Toolbox—Interface for Controlling ABB Robots in Simulink |
| title_full_unstemmed | EGM Toolbox—Interface for Controlling ABB Robots in Simulink |
| title_short | EGM Toolbox—Interface for Controlling ABB Robots in Simulink |
| title_sort | egm toolbox interface for controlling abb robots in simulink |
| topic | industrial robot robot control interface position–force control |
| url | https://www.mdpi.com/1424-8220/21/22/7463 |
| work_keys_str_mv | AT pawełobal egmtoolboxinterfaceforcontrollingabbrobotsinsimulink AT piotrgierlak egmtoolboxinterfaceforcontrollingabbrobotsinsimulink |