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...

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Autores principales:	Paweł Obal, Piotr Gierlak
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	industrial robot robot control interface position–force control Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/928669903ea04d249cb09dbaa68a0890
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id	oai:doaj.org-article:928669903ea04d249cb09dbaa68a0890
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spelling	oai:doaj.org-article:928669903ea04d249cb09dbaa68a08902021-11-25T18:56:38ZEGM Toolbox—Interface for Controlling ABB Robots in Simulink10.3390/s212274631424-8220https://doaj.org/article/928669903ea04d249cb09dbaa68a08902021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7463https://doaj.org/toc/1424-8220The 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.Paweł ObalPiotr GierlakMDPI AGarticleindustrial robotrobot control interfaceposition–force controlChemical technologyTP1-1185ENSensors, Vol 21, Iss 7463, p 7463 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	industrial robot robot control interface position–force control Chemical technology TP1-1185
spellingShingle	industrial robot robot control interface position–force control Chemical technology TP1-1185 Paweł Obal Piotr Gierlak EGM Toolbox—Interface for Controlling ABB Robots in Simulink
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.
format	article
author	Paweł Obal Piotr Gierlak
author_facet	Paweł Obal Piotr Gierlak
author_sort	Paweł Obal
title	EGM Toolbox—Interface for Controlling ABB Robots in Simulink
title_short	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_sort	egm toolbox—interface for controlling abb robots in simulink
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/928669903ea04d249cb09dbaa68a0890
work_keys_str_mv	AT pawełobal egmtoolboxinterfaceforcontrollingabbrobotsinsimulink AT piotrgierlak egmtoolboxinterfaceforcontrollingabbrobotsinsimulink
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EGM Toolbox—Interface for Controlling ABB Robots in Simulink

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