dc.contributor |
Institut de Robòtica i Informàtica Industrial |
dc.contributor |
Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.contributor.author |
Hernández Juan, Sergi |
dc.date |
2015 |
dc.identifier.citation |
Hernandez, S. "Staübli work-cell: embedded controller". 2015. |
dc.identifier.uri |
http://hdl.handle.net/2117/80888 |
dc.language.iso |
eng |
dc.relation |
IRI-TR-15-02 |
dc.rights |
info:eu-repo/semantics/openAccess |
dc.rights |
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject |
Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject |
manipulators |
dc.subject |
multi-robot systems |
dc.subject |
embedded computer |
dc.subject |
Staübli work-cell |
dc.subject |
Classificació INSPEC::Automation::Robots::Multi-robot systems |
dc.title |
Staübli work-cell: embedded controller |
dc.type |
info:eu-repo/semantics/draft |
dc.type |
info:eu-repo/semantics/report |
dc.description.abstract |
This technical report describes the design (both hardware and software) of an embedded controller for the Staüli work-cell available at the perception and manipulation laboratory at IRI. This system is based on a commercial embeeded computer (Beaglebone Black) and it is capable of managing all the work-cell devices. This include a custom planar XY robot, two simple grippers at the end effector of each Staübli robot, a six degrees of freedom force and torque sensor and optionally the two Staülbi robots themselves.
This embedded system also monitors all the safety features integrated into the work-cell to provide updated information about the current state of the work-cell to all the device drivers and control programs. The safety featues available at the Staübli work cell include several emergency stop buttons, a laser curtain surrounding the perimeter of the work-cell and two mechanical fuses at the last joint of the Staübli robot.
This document is intended as a complete reference manual of the embedded system, both from a software and a hardware points of view, for maintinance purposes and also to alow the addition of new features and upgrades in the future. |