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dc.contributor.authorHernández Juan, Sergi
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2015-12-17T18:37:35Z
dc.date.available2015-12-17T18:37:35Z
dc.date.issued2015
dc.identifier.citationHernandez, S. "Staübli work-cell: embedded controller". 2015.
dc.identifier.urihttp://hdl.handle.net/2117/80888
dc.description.abstractThis 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.isoeng
dc.relation.ispartofseriesIRI-TR-15-02
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.othermanipulators
dc.subject.othermulti-robot systems
dc.subject.otherembedded computer
dc.subject.otherStaübli work-cell
dc.titleStaübli work-cell: embedded controller
dc.typeExternal research report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.subject.inspecClassificació INSPEC::Automation::Robots::Multi-robot systems
dc.rights.accessOpen Access
local.identifier.drac15827811
dc.description.versionPreprint
local.citation.authorHernandez, S.


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Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain