An implemetation of a teleoperated robot control architecture on a PLC and field-bus based plarform
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URI: http://hdl.handle.net/10317/468Share
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Ortiz Zaragoza, Francisco José; Losilla López, Fernando; Rodríguez, David; Ortega Ortega, NoeliaResearch Group
División de Sistemas e Ingeniería Electrónica (DSIE)Publication date
2005-07-14Bibliographic Citation
ORTIZ ZARAGOZA, Francisco José et al. An implementation of a teleoperated robot control architecture on a PLC and field-bus based plarform. En: IFAC World Congress (16th., 2005. Praga). Proceedings of the 16th. IFAC World Congress, Praga, 2005Keywords
ArquitecturaControlador Lógico Programable
Robot
Teleoperación
Architecture
Tecnología Electrónica
Programmable Logic Controller
Field-Bus
Teleoperation
Robot
Abstract
Teleoperated robots are used to perform hazardous tasks that human operators
cannot carry out. The purpose of this paper is to present a new architecture (ACROSET)
for the development of these systems that takes into account the current advances in
robotic architectures while adopting the component-oriented approach. ACROSET
provides a common framework for developing this kind of robotized systems and for
integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of robots, teleoperated cranes and vehicles
which perform environmentally friendly cleaning of ship-hull surfaces (the EFTCoR
project). This paper summarises the features of this project and describes the
implementation of ACROSET on a hardware platform based on a PLC (Programmed
Logic Controller) SIEMENS SIMATIC S7-300 and the Field-Bus PROFIBUS DP.
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