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Interfacing Industrial Robots using Realtime Primitives

Michael Vistein, Andreas Angerer, Alwin Hoffmann, Andreas Schierl, Wolfgang Reif

Today, most industrial robots are interfaced using text-based programming languages. These languages offer the possibility to declare robotic-specific data types, to specify simple motions, and to interact with tools and sensors via I/O operations. While tailored to robot programming and rather easy to learn, the languages usually only offer a fixed, controller-specific set of possible instructions. The specification of complex motions, the synchronization of cooperating robots and the advanced use of sensors is often very difficult or not even feasible. To overcome these limitations, this paper presents a generic and extensible interface for industrial robots, the Realtime Primitives Interface, as part of a larger software architecture. It allows a flexible specification of complex control instructions and can facilitate the development of sustainable robot controllers. The advantages of this approach are illustrated with several examples.
2010 IEEE International Conference on Automation and Logistics (ICAL), August 16 - 20, 2010, Hong Kong