Abstract

Industrial robotic systems are increasingly being used to perform tasks requiring in-loop adaptive behavior to accommodate the demands of data-driven and autonomous manufacturing in the era of Industry 4.0. Achieving effective integration and the full potential of robotic systems presents significant challenges. This paper presents a C++ language-based toolbox, developed to facilitate the integration of industrial robotic arms with server computers, sensors and actuators. The new toolbox, namely the “Interfacing Toolbox for Robotic Arms” (ITRA), is fully flexible and extensible. It is capable of controlling multiple robots simultaneously, thus providing the opportunity for sophisticated manufacturing operations to be coordinated among multiple robots. ITRA can be used to achieve fast adaptive robotic systems, with latency as low as 30ms. Moreover, ITRA is cross-platform, allowing great flexibility between different computer architectures. The paper describes the architecture of ITRA, presents all its functions and gives some application examples.
LanguageEnglish
Place of PublicationGlasgow
PublisherUniversity of Strathclyde
Pages1-12
Number of pages12
DOIs
Publication statusPublished - 2 Oct 2019

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Robotic arms
Robotics
Robots
Computer architecture
Actuators
Servers
Sensors
Industry

Keywords

  • adaptive systems
  • real-time
  • robot control
  • system integration
  • robotically enabled sensing.

Cite this

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abstract = "Industrial robotic systems are increasingly being used to perform tasks requiring in-loop adaptive behavior to accommodate the demands of data-driven and autonomous manufacturing in the era of Industry 4.0. Achieving effective integration and the full potential of robotic systems presents significant challenges. This paper presents a C++ language-based toolbox, developed to facilitate the integration of industrial robotic arms with server computers, sensors and actuators. The new toolbox, namely the “Interfacing Toolbox for Robotic Arms” (ITRA), is fully flexible and extensible. It is capable of controlling multiple robots simultaneously, thus providing the opportunity for sophisticated manufacturing operations to be coordinated among multiple robots. ITRA can be used to achieve fast adaptive robotic systems, with latency as low as 30ms. Moreover, ITRA is cross-platform, allowing great flexibility between different computer architectures. The paper describes the architecture of ITRA, presents all its functions and gives some application examples.",
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author = "Carmelo Mineo and Cuebong Wong and Momchil Vasilev and Bruce Cowan and MacLeod, {Charles N.} and Pierce, {S. Gareth} and Erfu Yang",
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AU - Pierce, S. Gareth

AU - Yang, Erfu

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