Staübli work-cell: embedded controller

This technical report describes the design (both hardware and software) of an embedded controller for the Staüli work-cell available at the perception and manipulation laboratory at IRI. This system is based on a commercial embeeded computer (Beaglebone Black) and it is capable of managing all the w...

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Detalles Bibliográficos
Autor: Hernández Juan, Sergi
Tipo de recurso: informe técnico
Fecha de publicación:2015
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/80888
Acceso en línea:https://hdl.handle.net/2117/80888
Access Level:acceso abierto
Palabra clave:manipulators
multi-robot systems
embedded computer
Staübli work-cell
Classificació INSPEC::Automation::Robots::Multi-robot systems
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Staübli work-cell: embedded controllerHernández Juan, Sergimanipulatorsmulti-robot systemsembedded computerStaübli work-cellClassificació INSPEC::Automation::Robots::Multi-robot systemsÀrees temàtiques de la UPC::Informàtica::RobòticaThis technical report describes the design (both hardware and software) of an embedded controller for the Staüli work-cell available at the perception and manipulation laboratory at IRI. This system is based on a commercial embeeded computer (Beaglebone Black) and it is capable of managing all the work-cell devices. This include a custom planar XY robot, two simple grippers at the end effector of each Staübli robot, a six degrees of freedom force and torque sensor and optionally the two Staülbi robots themselves. This embedded system also monitors all the safety features integrated into the work-cell to provide updated information about the current state of the work-cell to all the device drivers and control programs. The safety featues available at the Staübli work cell include several emergency stop buttons, a laser curtain surrounding the perimeter of the work-cell and two mechanical fuses at the last joint of the Staübli robot. This document is intended as a complete reference manual of the embedded system, both from a software and a hardware points of view, for maintinance purposes and also to alow the addition of new features and upgrades in the future.20152015-01-0120152015-12-17reporthttp://purl.org/coar/resource_type/c_93fcAOhttp://purl.org/coar/version/c_b1a7d7d4d402bcceinfo:eu-repo/semantics/reportapplication/pdfhttps://hdl.handle.net/2117/80888reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/808882026-05-27T15:37:01Z
dc.title.none.fl_str_mv Staübli work-cell: embedded controller
title Staübli work-cell: embedded controller
spellingShingle Staübli work-cell: embedded controller
Hernández Juan, Sergi
manipulators
multi-robot systems
embedded computer
Staübli work-cell
Classificació INSPEC::Automation::Robots::Multi-robot systems
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Staübli work-cell: embedded controller
title_full Staübli work-cell: embedded controller
title_fullStr Staübli work-cell: embedded controller
title_full_unstemmed Staübli work-cell: embedded controller
title_sort Staübli work-cell: embedded controller
dc.creator.none.fl_str_mv Hernández Juan, Sergi
author Hernández Juan, Sergi
author_facet Hernández Juan, Sergi
author_role author
dc.subject.none.fl_str_mv manipulators
multi-robot systems
embedded computer
Staübli work-cell
Classificació INSPEC::Automation::Robots::Multi-robot systems
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic manipulators
multi-robot systems
embedded computer
Staübli work-cell
Classificació INSPEC::Automation::Robots::Multi-robot systems
Àrees temàtiques de la UPC::Informàtica::Robòtica
description This technical report describes the design (both hardware and software) of an embedded controller for the Staüli work-cell available at the perception and manipulation laboratory at IRI. This system is based on a commercial embeeded computer (Beaglebone Black) and it is capable of managing all the work-cell devices. This include a custom planar XY robot, two simple grippers at the end effector of each Staübli robot, a six degrees of freedom force and torque sensor and optionally the two Staülbi robots themselves. This embedded system also monitors all the safety features integrated into the work-cell to provide updated information about the current state of the work-cell to all the device drivers and control programs. The safety featues available at the Staübli work cell include several emergency stop buttons, a laser curtain surrounding the perimeter of the work-cell and two mechanical fuses at the last joint of the Staübli robot. This document is intended as a complete reference manual of the embedded system, both from a software and a hardware points of view, for maintinance purposes and also to alow the addition of new features and upgrades in the future.
publishDate 2015
dc.date.none.fl_str_mv 2015
2015-01-01
2015
2015-12-17
dc.type.none.fl_str_mv report
http://purl.org/coar/resource_type/c_93fc
AO
http://purl.org/coar/version/c_b1a7d7d4d402bcce
dc.type.openaire.fl_str_mv info:eu-repo/semantics/report
format report
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/80888
url https://hdl.handle.net/2117/80888
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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