Virtual Biscara robot integrated with open-architecture control system
Abstract
The paper presents the developed control system with open architecture for the BiSCARA robot, based on
the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the
virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for
configuring virtual robots could be used for any other robot or machine tool with parallel kinematic. The
verification of the robot control system and robot kinematic model has been performed through several examples of
drawing of contour on the configured virtual robot.
Keywords:
kinematic modelling / virtual robot / control system / linuxCNC / simulationSource:
Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021, 2021, 63-66Publisher:
- Novi Sad : Faculty of Technical Sciences Department of Production Engineering
Funding / projects:
- The development of a new generation of domestic machining systems (RS-MESTD-Technological Development (TD or TR)-35022)
- MISSION4.0 - Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 (RS-ScienceFundRS-AI-6523109)
Collections
Institution/Community
Mašinski fakultetTY - JOUR AU - Slavković, Nikola AU - Vorkapić, Nikola AU - Živanović, Saša AU - Dimić, Zoran AU - Kokotović, Branko PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4617 AB - The paper presents the developed control system with open architecture for the BiSCARA robot, based on the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for configuring virtual robots could be used for any other robot or machine tool with parallel kinematic. The verification of the robot control system and robot kinematic model has been performed through several examples of drawing of contour on the configured virtual robot. PB - Novi Sad : Faculty of Technical Sciences Department of Production Engineering T2 - Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021 T1 - Virtual Biscara robot integrated with open-architecture control system EP - 66 SP - 63 UR - https://hdl.handle.net/21.15107/rcub_machinery_4617 ER -
@article{ author = "Slavković, Nikola and Vorkapić, Nikola and Živanović, Saša and Dimić, Zoran and Kokotović, Branko", year = "2021", abstract = "The paper presents the developed control system with open architecture for the BiSCARA robot, based on the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for configuring virtual robots could be used for any other robot or machine tool with parallel kinematic. The verification of the robot control system and robot kinematic model has been performed through several examples of drawing of contour on the configured virtual robot.", publisher = "Novi Sad : Faculty of Technical Sciences Department of Production Engineering", journal = "Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021", title = "Virtual Biscara robot integrated with open-architecture control system", pages = "66-63", url = "https://hdl.handle.net/21.15107/rcub_machinery_4617" }
Slavković, N., Vorkapić, N., Živanović, S., Dimić, Z.,& Kokotović, B.. (2021). Virtual Biscara robot integrated with open-architecture control system. in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021 Novi Sad : Faculty of Technical Sciences Department of Production Engineering., 63-66. https://hdl.handle.net/21.15107/rcub_machinery_4617
Slavković N, Vorkapić N, Živanović S, Dimić Z, Kokotović B. Virtual Biscara robot integrated with open-architecture control system. in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021. 2021;:63-66. https://hdl.handle.net/21.15107/rcub_machinery_4617 .
Slavković, Nikola, Vorkapić, Nikola, Živanović, Saša, Dimić, Zoran, Kokotović, Branko, "Virtual Biscara robot integrated with open-architecture control system" in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021 (2021):63-66, https://hdl.handle.net/21.15107/rcub_machinery_4617 .