Robotic Arm Manipulation Under IEC 61499 and ROS-based Compatible Control Scheme

García, Carlos A.; Salinas, Gustavo; Pérez, Valentín Viqueira; Salazar, L. Franklin; García, Marcelo V.

doi:10.1007/978-3-030-02828-2_26

Cited by 4 publications

(2 citation statements)

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“…This paper takes as reference the previous articles presented by the authors. In [18,19] the researches show how the IEC-61499 standard is used in low-cost boards to develop a control scheme for the Kuka Robotic Arm. In these papers, the Robotic Arm is used for welding tasks and pick and place process.…”

Section: Related Workmentioning

confidence: 99%

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Flexible robotic teleoperation architecture for intelligent oil fields

Caiza

García

Naranjo

et al. 2020

Heliyon

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Teleoperation virtual platforms allow people to send their skills and capacities into machines located in either relative close (few meters away) or far (different continents) locations. With the use of lightweight protocols, people can remotely control the actions and movements of robots so they can avoid physical interaction with dangerous or risky places. Oil and gas well-pads stations are working zones considered hazardous due to the various chemical substances used in their daily processes. This characteristic makes these places the perfect candidates for the implementation of teleoperation solutions in order to reduce the direct interaction of humans with different chemicals and risky situations. The following investigation focuses on the development of a base teleoperation scheme to perform inspection and maintenance tasks in the inside one of these hydrocarbon facilities. The proposed system aims to generate an easily scalable teleoperation solution using distributed control schemes and a lightweight communication protocol to remotely manipulate a KUKA mobile manipulator. As the first stage of this investigation, the main result focuses on the development of the generic control and communication functions that allow the physical testing of the system using a KUKA YouBOT mobile manipulator and the help of a qualified operator of the station.

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Section: Related Workmentioning

confidence: 99%

“…The control strategy was presented previously in [18,19]. This strategy is supported on the kinematic equations of the Kuka™ robotic arm.…”

Section: Control Fbmentioning

confidence: 99%