Abstract
The design of powerful control that suits multiple types of parallel kinematic robots is extraordinarily challenging. The diversity of parallel kinematics and their optimization that customizes them to specific tasks require highly individualized control functionalities. This work intends to provide principles, methods and tools for the development of such control software. It aims at the time-efficient realization of custom robot controllers that suit particular application domains and use hardware resources as sophisticated as possible. A task-frame formalism for trajectory generation is defined exploiting the full potential of parallel robots. This formalism can be used as a generic programming interface for parallel robots. Design patterns for so-called active connectors, modular motion planning, sensor integration and restricted state machines in token-passing context are discussed with regard to control of parallel robots. RCA562, a control application for parallel robots incorporating this knowledge, serves as an illustrative validation example.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Gosselin, C.M.: On the Design of Efficient Parallel Mechanisms. In: Angeles, J. (ed.) Computational methods in mechanical systems. NATO ASI seriesSeries F, Computer and systems sciences, vol. 161, pp. 68–96. Springer, Heidelberg (1998)
Mason, M.T.: Compliance and force control for computer controlled manipulators. IEEE Trans. on Systems, Man and Cybernetics, 418–432 (1981)
de Schutter, J., van Brussel, H.: Compliant robot motion I: A formalism for specifying compliant motion task. Int. Journal of Robotics Research 7(4), 3–17 (1988)
Hasegawa, T., Suehiro, T., Takase, K.: A Model-Based Manipulation System with Skill-Based Execution. IEEE Transactions on Robotics and Automation 8(5), 535–544 (1992)
Finkemeyer, B., Borchard, M., Wahl, F.: A robot control architecture based on an object server. In: IASTED International Conference Robotics and Manufacturing (RM 2001), Cancun Mexiko, pp. 36–40 (2001)
Thomas, U., Finkemeyer, B., Kröger, T., Wahl, F.M.: Error-tolerant execution of complex robot tasks based on skill primitives. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 3069–3075 (2003)
Kröger, T., Finkemeyer, B., Thomas, U., Wahl, F.M.: Compliant motion programming: The task frame formalism revisited. In: IEEE International Conference on Mechatronics and Robotics, pp. 1029–1034 (2004)
Kröger, T., Finkemeyer, B., Wahl, F.M.: A task frame formalism for practical implementations. In: IEEE International Conference on Robotics and Automation, pp. 5218–5223 (2004)
Merlet, J.-P.: Parallel Robots. Kluwer Academic Publishers, Boston (2000)
Finkemeyer, B.: Robotersteuerungsarchitektur auf der Basis von Aktionsprimitiven. Shaker Verlag, Aachen (2004)
Sciavicco, L., Siciliano, B.: Modelling and Control of Robot Manipulators. McGraw-Hill, London (2000)
Maaß, J., Reisinger, T., Hesselbach, J., Schumacher, W.: A versatile robot control architecture for sensor integrated assembly. In: Proceedings of ISR/Robotik 2006 (2006)
Reisinger, T.: Kontaktregelung von Parallelrobotern auf Basis von Aktionsprimitiven. Ph.D. thesis, TU Braunschweig (2008) (in german)
Maaß, J.H.: Ein Beitrag zur Steuerungstechnik für parallelkinematische Roboter in der Montage. Ph.D. thesis, Fakultät für Maschinenbau, TU Braunschweig, Vulkan Verlag (2009) (in German)
Selic, B.: Architectural patterns for real-time systems. In: UML for real: design of embedded real-time systems, pp. 171–188. Kluwer Academic Publishers, Norwell (2003)
Brooks, A., Kaupp, T., Makarenko, A.: ORCA: Components for robotics Internet-Ressource (2008), http://orca-robotics.sourceforge.net/
The player project Internet-Ressource (2008), http://playerstage.sourceforge.net/ Free Software tools for robot and sensor applications
Jorg, S., Nickl, M., Hirzinger, G.: Flexible signal-oriented hardware abstraction for rapid prototyping of robotic systems. In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3755–3760 (2006)
NASA and JPL. Claraty robotic software (2008), http://claraty.jpl.nasa.gov
Utz, H., Sablatnog, S., Enderle, S., Kraetzschmar, G.: Miro-Middleware for Mobile Robot Applications. IEEE Transactions on Robotics and Automation 18(4), 493–497 (2002)
Côté, C.: Mobile and autonomous robotics integration environment (2008), http://marie.sourceforge.net
Finkemeyer, B., Kröger, T., Kubus, D., Olschewski, M., Wahl, F.M.: Mirpa: Middleware for robotic and process control applications. In: Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware. IEEE International Conference on Intelligent Robots and Systems, San Diego, USA, pp. 76–90 (2007)
Bruyninckx, H.E.A.: OROCOS - open source robot control software (2008), http://www.orocos.org/ IST-2000-31064
The OSACA Project Consortium. Open system architecture for controls within automation systems (2010), http://www.osaca.org/
FZI Karlsruhe. Modular controller architecture version 2 Internet-Ressource (2008), http://www.mca2.org/ Abteilung Interaktive Diagnose- und Servicesysteme
Budde, C., Helm, M., Last, P., Raatz, A., Hesselbach, J.: Configuration Switching for Workspace Enlargement. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 175–189. Springer, Heidelberg (2010)
Schütz, D., Budde, C., Raatz, A., Hesselbach, J.: Parallel Kinematic Structures of the SFB 562. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 109–124. Springer, Heidelberg (2010)
Maaß, J., Hesselbach, J., Kohn, N.: Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism. International Journal of Advanced Robotic Systems 3, 001–010 (2006)
Kolbus, M., Reisinger, T., Maaß, J.: Robot Control based on Skill Primitives. In: Robotics and Applications: Sixth IASTED International Conference Proceedings (2005)
Dadji, Y., Michalik, H., Kohn, N., Steiner, J., Beckmann, G., Möglich, T., Varchmin, J.U.: A Communication Architecture for Distributed Real-Time Robot Control. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 213–231. Springer, Heidelberg (2010)
Maaß, J., Steiner, J., Amado, A., Hesselbach, J., Huhn, M., Raatz, A.: Self-management in a control architecture for parallel kinematic robots. In: Proc. ASME IDETC/CIE, Brooklyn, New York, USA (2008)
Steiner, J., Goltz, U., Maaß, J.: Self-Management within a Software Architecture for Parallel Kinematic Machines. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 355–371. Springer, Heidelberg (2010)
Gerritsen, N., Veldhuis, J.: Maintainability assessment of robot software TU Braunschweig. Technical report, TU Eindhoven (2007)
Last, P., Raatz, A., Hesselbach, J.: Calibration of Parallel Kinematic Structures - Overview, Classification and Comparison. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 93–106. Springer, Heidelberg (2010)
Dietrich, F., Maaß, J., Bier, C., Pietsch, I., Raatz, A., Hesselbach, J.: Detection and Avoidance of Singularities in Parallel Kinematic Machines. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 77–92. Springer, Heidelberg (2010)
Algermissen, S., Sinapius, M.: Robust Gain Scheduling for Smart-Structures in Parallel Robots. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 159–174. Springer, Heidelberg (2010)
Thomas, U.: Automatisierte Programmierung von Robotern für Montageaufgaben. Ph.D. thesis, Fakultät für Mathematik und Informatik, TU Braunschweig (2008) (in german)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Dietrich, F., Maaß, J., Raatz, A., Hesselbach, J. (2010). RCA562: Control Architecture for Parallel Kinematic Robots. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_18
Download citation
DOI: https://doi.org/10.1007/978-3-642-16785-0_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16784-3
Online ISBN: 978-3-642-16785-0
eBook Packages: EngineeringEngineering (R0)