An Implementation of a Teleoperated Robot Control Architecture on a PLC and Field-bus based Platform
| Authors: | Ortiz Francisco J., Universidad Politecnica de Cartagena, Spain
Álvarez Bárbara, Universidad Politecnica de Cartagena, Spain
Losilla Fernando, Universidad Politecnica de Cartagena, Spain
Rodríguez David, IZAR Carenas, Spain
Ortega Noelia, IZAR Carenas, Spain |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control I |
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| Keywords: | Architecture, Programmable Logic Controller, Field-Bus, teleoperation, robot |
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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.
