Real Time Position Control of Industrial Robot over Ethernet Based Communication Framework

摘要

Industrial robots are often used in positioning and material handling purposes. Due to low accuracy and high stiffness, the researchers are more concern on to improve in control operation like high accuracy trajectory tracking. This paper presents a real time position control of 6 DOF Mitsubishi robot and deals with Cartesian parameters monitoring and controlling. Feed forward control method is used. The robot movement is on Cartesian co-ordinate mode and operates from remote computer. These Cartesian parameters have to be continuously monitored and control in real time by the user. The Virtual Instrument is created using LabVIEW software which creates Graphical Control and monitoring system. An Ethernet User Datagram Protocol (UDP) is used for developing an online transmission process between client and server. This helps in easy and fast transmission of data in form of messages between the client PC(s) and server robot. With the help of internet protocol, client provides the value of set point according to which the control actions are taken by the server. Finally, experimental validation is performed using a Mitsubishi robot to verify the correctness and accuracy of the approach.