By Topic

RePLiCS: an environment for open real-time control of a dual-arm industrial robotic cell based on RTAI-Linux

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Caccavale, F. ; Dipt. di Ingegneria e Fisica dell''Ambiente, Univ. degli Studi della Basilicata, Potenza, Italy ; Lippiello, V. ; Siciliano, B. ; Villani, L.

An environment for open real-time control of an industrial robotic cell is presented in this paper. The experimental setup is composed of two industrial robot manipulators equipped with force/torque sensors and pneumatic grippers, a vision system and a belt conveyor. The original industrial robot controllers have been replaced by a single PC with software running under a real-time variant of the Linux operative system. The new control environment allows advanced control schemes to be developed and tested for the single robots and for the dual-arm robotic cell, including force control and visual servoing tasks. An advanced user interface and a simulation environment have been developed, which permit fast, safe and reliable prototyping of planning and control algorithms.

Published in:

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Date of Conference:

2-6 Aug. 2005