NDLI: Modular control system for reconfigurable robot applications

Content Provider	IEEE Xplore Digital Library
Author	Muller, R. Esser, M. Janssen, M. Corves, B.
Copyright Year	2011
Description	Author affiliation: Department of Mechanism Theory and Dynamics of Machines (IGM), RWTH Aachen University, Aachen, Germany (Corves, B.) \|\| Laboratory for Machine Tools and Production Engineering, (WZL), Chair of Assembly Systems, RWTH Aachen University, Aachen, Germany (Muller, R.; Esser, M.; Janssen, M.)
Abstract	Cooperating robots are a flexible solution for handling and assembling large-scale objects, but they cause high procurement costs and personnel costs for programming. The purpose of the project is to simplify the programming by a new hardware concept of the control system and to guarantee an easy reconfiguration to flexibly adapt and re-use robot cells. Derived from existing solutions, a modular control system had been developed to simplify the programming procedure. It subordinates all robots under an independent central control module, which leads to equality, exchangeability and reconfigurability of the robots. The control system was implemented in a layout of simple kinematic units which can be easily reconfigured within an assembly platform. Therefore the modularity of the control system must follow the modularity of the complete mechatronic system. The control concept is independent from the robot manufacturer and will be validated for different industrial robots in future research. The project targets on applications in aircraft production, where large-scale objects in small batches have to be assembled with cooperating robots.
Starting Page	1
Ending Page	5
File Size	1090840
Page Count	5
File Format	PDF
ISBN	9781612843421
e-ISBN	9781612843438
DOI	10.1109/ISAM.2011.5942334
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-25
Publisher Place	Finland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Programming Control systems Kinematics Service robots Delta modulation Multiple Arm Robotic System Modular Control System Reconfigurable Assembly System
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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