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Staübli work-cell: embedded controller
dc.contributor.author | Hernández Juan, Sergi |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2015-12-17T18:37:35Z |
dc.date.available | 2015-12-17T18:37:35Z |
dc.date.issued | 2015 |
dc.identifier.citation | Hernandez, S. "Staübli work-cell: embedded controller". 2015. |
dc.identifier.uri | http://hdl.handle.net/2117/80888 |
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. |
dc.language.iso | eng |
dc.relation.ispartofseries | IRI-TR-15-02 |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | manipulators |
dc.subject.other | multi-robot systems |
dc.subject.other | embedded computer |
dc.subject.other | Staübli work-cell |
dc.title | Staübli work-cell: embedded controller |
dc.type | External research report |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Multi-robot systems |
dc.rights.access | Open Access |
local.identifier.drac | 15827811 |
dc.description.version | Preprint |
local.citation.author | Hernandez, S. |
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