| Plug'n'Produce-Steuerungsarchitektur für Roboterzellen: Automatische Code-Generierung für Roboterzellen aus Prozess- und Geräte-Beschreibungen (2008) | |||||||||||
Abstract | |||||||||||
| This article presents the concept of a service-oriented control architecture for robot cells that enables Plug'n'Produce according to Plug'n'Play in the office world. To achieve this, the cell controller needs special functionalities located in a software module called "Plug'n'Produce-Module". This module takes descriptions of devices and processes as input. These descriptions are then automatically evaluated in order to offer the user device-independent high-level commands to define a task for the robot cell. Based on this task definition executable code is generated. The paper focuses on the descriptions and algorithms necessary to generate this executable code. The presented concept is implemented as a test bed in a bin picking robot cell. This test bed is used to assess the concept. | |||||||||||
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