Retrofitting of ASEA IRB2-S6 industrial robot using numeric control technologies based on LinuxCNC and MACH3-MatLab

Álvares, Alberto J.; Toquica, Juan S.; Lima, Eduardo José; Bomfim, Marcelo Henrique Souza

doi:10.1109/robio.2017.8324737

Cited by 7 publications

(6 citation statements)

References 7 publications

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“…Alvares et al [51] presented a comparative study of numerical controllers integration using LinuxCNC controller and MatLab/Mach3 in Windows solutions applied to a retrofitting process of an old industrial robot. The authors adopted different robot control platforms, and included robot kinematics.…”

Section: B Robot Programmingmentioning

confidence: 99%

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STEP-NC Architectures for Industrial Robotic Machining: Review, Implementation and Validation

et al. 2020

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In the manufacturing sector, industrial robots are being increasingly improved to execute machining tasks as they exhibit significant advantages in terms of flexibility, cost-effectiveness, affordability, and larger work-space when compared to traditional computer numeric control (CNC) machines. However, programming this kind of equipment for robotic machining is complex, due to closed architecture controller and proprietary programming languages limitations. For that reason, this work aims at contributing to the adoption of the STEP-NC standard (STandard for the Exchange of Product model data-Numerical Control (ISO 10303-238 and ISO 14649)), generating programs for robotic machining operations. The STEP-NC data model enables the integration of information from design, process planning, simulation, manufacturing, and even inspection in a single platform, which could create new alternatives for industrial robotic machining programming. In this context, several previous studies are described in this manuscript aiming to highlight the contribution of this work, in addition to the analysis, implementation, and validation of six different STEP-NC architectures describing the advantages that each architecture provides for achieving robotic machining capabilities. Each introduced architecture can successfully generate a STEP-NC robotic machining program, either as ISO 10303-238 or ISO 14649, which are validated in a simulation environment with both a virtual robot model and a real industrial robot equipped with a LinuxCNC controller. This approach can be implemented in different industrial robots.

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Section: B Robot Programmingmentioning

confidence: 99%

“…These filters enable considering the file opened by the controller according to its needs. The filter can do tasks such as ensuring that the G-code file ends with a M2 or M30 command, or detecting if the input is a depth image, and generate the G-code to mill the shape defined by the image [51].…”

Section: B Asea Robot With Linuxcnc Step-nc (Iso 14649) Controllermentioning

confidence: 99%

STEP-NC Architectures for Industrial Robotic Machining: Review, Implementation and Validation

et al. 2020

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“…LinuxCNC was used as robot controller, which ensures compatibility with the OAC concept. It is necessary to mention that kinematics equations of the ASEA robot were developed and integrated in the LinuxCNC controller, and the entire process was described in previous works [25,81].…”

Section: Oac Concept For Industrial Robotsmentioning

confidence: 99%

“…The LinuxCNC high-level logical structure consists in four main modules with independent tasks. The main layer is called HAL (Hardware Abstraction Layer), being an interface between software and hardware that provides real-time transfer of LinuxCNC data to control hardware or low-level logic modules through NML [82] messages [81]. The modules that integrate LinuxCNC are motion controller (EMCMOT), discrete I/O controller (EMCIO), task coordinating module (EMCTASK) and text-based and graphical user interfaces (GUI).…”

Section: Oac Concept For Industrial Robotsmentioning

confidence: 99%

STEP-NC-based machining architecture applied to industrial robots

Toquica

Živanović

Bonnard

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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This paper presents a method for applying the ISO 10303-238 (AP-238) standard in robotic machining operations by using two industrial robots. The method encompasses programming, simulation and machining by industrial robots. Application and validation of robotized machining is performed using two industrial robots, and the following tools are used: (a) a commercial CAD/CAM software with a plug-in to generate STEP-NC files (AP-238); (b) simulation with a STEP-NC-compliant software using two virtual robot models, as well as the generation of G-code files through postprocessors; and (c) two industrial robots (ASEA IRB6-S2 and LOLA 50) using the LinuxCNC controller adapted to STEP-NC. Initially, a 3D part is designed using any CAD system, and it is sent through the Internet to a CAM specialist who uses a commercial software to generate a process plan to manufacture the part. Operators of the robots download the part and its process plan information in the STEP-NC format, simulate its machining through the working steps and then perform machining using the robots.

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“…A possibilidade de se utilizar um manipulador robótico que é programado através de softwares de linguagem não proprietária motivou o uso do robô da marca ASEA (IRB6) de 5 graus de liberdade, que passou por processos de retrofitting do sistema de controle [8,9], sendo que tais soluções não permitiram o planejamento e correção de trajetória em tempo real. A Figura 1ª apresenta o sistema de controle desenvolvido que realiza o acionamento dos motores através de drivers G320 da Gecko [10] e programação da trajetória em código G [11]. Para controlar o robô em tempo real, uma nova arquitetura baseada em microcontroladores Atmel ® , na plataforma de desenvolvimento Arduino [12], foi desenvolvida e está representada na Figura 1b.…”

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Proposta para o Uso de Robôs Cooperativos na Manufatura Aditiva Baseada no Processo GMAW-P

Coelho

Bracarense²,

Lima

et al. 2021

Soldag. insp.

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Retrofitting of ASEA IRB2-S6 industrial robot using numeric control technologies based on LinuxCNC and MACH3-MatLab

Cited by 7 publications

References 7 publications

STEP-NC Architectures for Industrial Robotic Machining: Review, Implementation and Validation

STEP-NC Architectures for Industrial Robotic Machining: Review, Implementation and Validation

STEP-NC-based machining architecture applied to industrial robots

Proposta para o Uso de Robôs Cooperativos na Manufatura Aditiva Baseada no Processo GMAW-P

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