benefits of using open architecture for real-time control of robots and multi-axis machining systems

8/9/2019 Benefits of Using Open Architecture for Real-time Control of Robots and Multi-Axis Machining Systems

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BENEFITS OF USING OPEN ARCHITECTURE FOR REAL-TIME

CONTROL OF ROBOTS AND MULTI-AXIS MACHINING SYSTEMS

Goran FERENC

1

, Maja LUTOVAC

2

, !"!na VIDA#OVIC

$

, %oran DIMIC

&

, V"a'()(r#VRGIC*

1, 2, 3, 4, 5Lola Institute

Kneza Viseslava 70a, Belgrade, Serbia

A+ra.

This paper presents benefits of using open architecture for real-time control of robots and multi-axis

machining systems. The global economy requires the incorporation of new technologies into existing

controllers and reducing development time and cost. An open architecture appears as a solution to deal withthese requirements. The aim of applying open architectures and open source tools is to increase

competitiveness of companies. This article explains rationale for the development of open architecture

control systems and presents a controller that has been developed using this design philosophy.

#!/0or' Increasing co!etitiveness, o!en arc"itecture, robot, ulti#a$is control

1 INTRODUCTION

%ue to t"e "ig" innovation s!eed in t"e icro!rocessor &ield and counication tec"nolog' during !ast t(o

decades, it becoes necessar' &or co!anies to develo! "ard(are inde!endent so&t(are as &ar as !ossible in

order to sta' co!etitive )1*+ ard(are and so&t(are co!onents "ave to be constantl' u!graded, so o!en

arc"itecture control -./ is a solution ("ic" deals (it" t"ese reuireents+

"e earl' nineties are ared as t"e beginning 'ears o& initiatives &or enabling control vendors, ac"ine tool

builders and end users to bene&it ore &ro &le$ible and agile !roduction &acilities+ "e goal (as oriented to

custoer reuireents+ I!leentation o& custoer s!eci&ied controls as eas' as !ossible (as t"e ain ai

at t"e start o& using o!en arc"itecture a!!roac"+ "is related to o!en inter&aces and con&iguration et"ods in

a standardized, vendor neutral environent+ Suc" s'stes (ere broadl' acce!ted ("ic" resulted in reducing

costs and increasing &le$ibilit'+ S'ste integrators reused so&t(are and i!leented algorit"s s!eci&ied b'

user, ("ile users (ere able to design t"eir controls based on t"e given con&igurations )2*+

%evice oriented, "eterogeneous s'stes ("ere a!!lication so&t(are, s'ste so&t(are and "ard(are are tig"t

cou!led doinated in t"e !ast+ "is a!!roac" led to co!le$it' and in&le$ibilit', long develo!ent tie and

ver' di&&icult (a' to include ne( &unctionalities in suc" s'stes+

aret reuireents "ave been c"anged and t"ere&ore t"e design a!!roac"es are di&&erent no(+ Signi&icante&&orts (ere ade to aintain and &urt"er develo! t"e !roducts according to t"ese reuireents+ odern

a!!roac"es, ("ic" co!rise e$tensive &unctionalit' to ac"ieve a "ig" ualit' and &le$ibilit' o& ac"ining

results cobined (it" a reduced !rocessing tie, &avor 6 based solutions (it" a "oogenous, standardized

environent+ "e structure is so&t(are oriented and con&igurable due to de&ined inter&aces and so&t(are

!lat&ors+ .!en control inter&aces are necessar' &or continuousl' integrating ne( advanced &unctionalit'

into control s'stes and are i!ortant &or creating recon&igurable anu&acturing units )3*+ nbundling

"ard(are and so&t(are allo(s !ro&iting &ro t"e s"ort innovation c'cles o& t"e seiconductor industr' and

in&oration tec"nolog'+ 8it" t"e !ossibilit' &or reusing so&t(are co!onents, t"e !er&orance o& t"e overall

s'ste increases si!l' b' u!grading t"e "ard(are !lat&or+ "ese t(o t'!es o& a!!roac", "eterogeneous

and "oogeneous, are s"o(n on 9igure 1+


2/8

F(34r! 1: eterogeneous and "oogeneous environent

/ccording to t"e odel I;;; 1003+0 an o!en s'ste is de&ined as a s'ste ("ic" !rovides ca!abilities t"at

enable !ro!erl' i!leented a!!lications to run on a variet' o& !lat&ors &ro ulti!le vendors,

intero!erate (it" ot"er s'ste a!!lications and !resent a consistent st'le o& interaction (it" t"e user+

"e o!enness o& a controller is de&ined t"roug"a!anese controller vendors, ac"ine tool builders, integrators, users, andacadeics )2*+ >.6 "as been conducted t"e /6I standardization &or t"ree 'ears+ "e s!eci&ication o& t"e

/6I set 6/6I -6rinci!al /!!lication 6rogra Inter&ace "as de&ined and becoes ne( >a!anese standard+


6/8

NGC"e e$t =eneration ontroller 6rogra, based on t"e S re&erence odel, co#s!onsored b' t"e

ational enter &or anu&acturing Sciences -S, t"e +S+ /ir 9orce and artin arietta, organized

industr' reuireents and !re!ared a s!eci&ication &or an o!en s'stes arc"itecture standard -S.S/S )D*+

ECA "e ;n"anced ac"ine ontroller /rc"itecture is t"e ne$t ste! be'ond =AS.S/S b' ;+ In t"e

;/ !ro@ect, an o!en ac"ine tool "as been i!leented based on t"e =AS.S/S and S re&erence

odel )C*+

.t"er researc" !ro@ects lie t"e "iera !ro@ect at arnegie ellon niversit' )10*, t"e ulti!rocessor

%atabase /rc"itecture &or eal#ie S'stes -%/S )11* at t"e niversit' o& ic"igan and t"e

ierarc"ical .!en /rc"itecture ulti#6rocessor otion ontrol S'ste -./# )12* at t"e

niversit' o& Britis" olubia -B, "ave deonstrated a variet' o& a!!roac"es to t"e ./+ B "as

develo!ed a user &riendl', recon&igurable and odular tool it &or otion and ac"ining !rocess control

-.S+ B, IS8 at niversit' o& Stuttgart and 8JL in /ac"en "ave coo!erated to realize a gate(a'

("ic" allo(s access to t"e !rocess control and onitoring tass o& .S via .S// coands+

$ LOLA CONTROLLERS

.!en arc"itecture bene&its are used &or develo!ent o& series o& controllers at Lola Institute+ "is design

!"iloso!"' is i!leented on t"e real#tie Linu$ !lat&or+ ...S -.!en .bot .ntrol So&t(are isinstalled on t"is !lat&or+ ...S is a !ro@ect started in 2001, (it" t"e ai to develo! a general#!ur!ose,

&ree so&t(are and odular &rae(or &or robot and ac"ine control+ ...S is one o& t"e ost

co!re"ensive s'stes t"at &ollo(s a siilar a!!roac" to ./s described in t"is !a!er+

"e control s'ste is structured in la'ers+ .n t"e botto is t"e real#tie Linu$ o!erating s'ste, t"e

...S eal#ie oolit - is re&erred as iddle(are l'ing bet(een o!erating s'ste and

a!!lication or co!onents level+ "e !rovides t"e in&rastructure and t"e &unctionalities to build robotics

real#tie a!!lications in + "e allo(s setu!, distribution and building o& t"e real#tie co!onents,

("ic" are t"e "ig"est la'er o& t"e control s'ste+ Beside , ...S is co!osed o& .L -...S

o!onent Librar', K%L -Kineatics and %'naics Librar' and B9L -Ba'esian 9iltering Librar'+

;ver' ...S co!onent is an inde!endent &unctional bloc+ It in"erits a !ublic inter&ace &ro its base

class called asonte$t and t"e inter&ace consists o& &ollo(ing !riitives< !ro!erties, events, et"ods,

coands and data !orts+ eal#tie state ac"ines as (ell as !rogra scri!ts can be integrated into

...S co!onents+

"e series o& Lola controllers are based on t"e net(or o& co!onents ("ic" are controlled b' t"e real#tie

&inite state ac"ine -9S and it is s"o(n on &igure H )13,14*+

F(34r! 7: eal#tie !art o& t"e controller


7/8

"e s'ste can be easil' con&igured b' adding a!!ro!riate co!onents -e+g+ Kineatics or ontroller to

control various t'!es o& robots and ulti#a$is ac"ining s'stes suc" as< H#a$is robot ani!ulator, 5#a$is

ac"ining robot, 3#a$is !arallel ineatic illing ac"ine, 3#a$is %;L/ robot or 12#a$is "uan

centri&uge )15,1H*+

& BENEFITS

"ere are a lot o& bene&its &or su!!liers and users o& o!en control s'stes+ "e ain bene&its are s"o(n on9igure 5 )17*+ %esigners o& robots and ulti#a$is ac"ining s'stes bene&it &ro a "ig" degree o& o!ennesscovering also t"e internal inter&aces+ 9or users t"e e$ternal o!enness is uc" ore i!ortant+ It !rovides t"eet"ods and utilities &or integrating user s!eci&ic a!!lications into e$isting controls and &or ada!ting to users!eci&ic reuireents, e+g+ ada!table user inter&aces or collection o& ac"ine and !roduction data+ "ee$ternal o!enness is ainl' based on t"e internal o!enness but "as &unctional or !er&orance liitations+

F(34r! *: Bene&its o& using o!en arc"itecture control s'stes

"ere are ore bene&its o& using o!en arc"itecture controllersul' 2000+)2* 6ritsc"o(, =+, /ltintas, ?+, >ovane, 9+, Koren, ?+, itsuis"i, +, aata, S+, et al+, pen !ontroller

Architecture - "ast# "resent and Future, /nnals o& t"e I6, ISS 0007#D50C, Vol+ 50, o+ 2, 2001,

4H3#470+

)3* ?+ Koren et+al+,$econfigurable Manufacturing Systems, I6 /nnals, Vol+ 2, 1CCC, 527#540+

)4* /sato, .+, Kato, ;+, Inaasu, +, 6orto, /+,Analysis of open !%! architecture for machine tools,

>ournal o& t"e Brazilian Societ' o& ec"anical Sciences, 6rint version ISS 0100#73DH >+ Braz+ Soc+

)5* "tt!+,(nhanced machine controller architecture overview.ISI#5331, ec"+

re!+, IS, =ait"ersburg, % 20DCC, %eceber 1CC3+

)10* Ste(art, %+, Vol!e, +, K"osla, 6+,)esign of dynamically reconfigurable real-time software using port-

based ob*ects+ #I##C3#11, ec"+ re!+, arnegie ellon niversit', 6ittsburg", 6/ 15213, >ul'

1CC3+

)11* Lortz, V+, S"in, K+,M)A$TS+ A multiprocessor database architecture for real-time systems, ec"+ re!+,

"e niversit' o& ic"igan, 1CC3+

)12* /ltintas, ?+, unasing"e, 8+ K+,A hierarchical open-architecture !%! system for machine tools, I6

/nnals, Vol+ 43, o+ 1, 1CC4, 34C#354+

)13* Kvrgi, V+,)evelopment of intelligent systems for industrial robots control and programming, 6"%

t"esis, 9acult' o& ec"anical ;ngineering niversit' o& Belgrade, 1CCD+)14* ilievi, +, Vidaovi, >+, %ii, J+, rgovMevi, S+,Modern open architecture control systems for

machine tools and robots control, 6roceedings o& 3Ht" >6I; con&erence, 32t" s'!osiu #

oboti#9S, ISB C7D#DH#70D3#HCH#C, 9acult' o& ec"anical ;ngineering niversit' o& Belgrade,

2010, 4+41#4+4H+

)15* ilievi, +, Ka!larevi, V+, %ii, J+, Kvrgi, V+, vi@anovi, V+,)evelopment of new control system

for robots and multi-axis machining systems, 6roceedings o& 4t" International on&erence on

anu&acturing ;ngineering I;, ISB C7D#CH0#CD7D0#4#3, 2011, 451#457+

)1H* ilievi, +, Ka!larevi, V+, %ii, J+, vi@anovi, V+, Buan, +,)evelopment of distributed control

system for robots control based on real-time ,inux platform, 10t" /nniversar' International on&erence

on /cco!lis"ents in ;lectrical and ec"anical ;ngineering an In&oration ec"nolog' %;I,

ISB C7D#CCC3D#3C#3H#1, 2011, D13#D1D+

)17* 6roctor, 9+,"ractical pen Architecture !ontrollers for Manufacturing Applications, .!en /rc"itecture

ontrol S'stes, II/ Series, 1CCD+

benefits of using open architecture for real-time control of robots and multi-axis machining systems

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