Trajectory following control of an articulated robot VE026A incorporated with ORiN2 SDK

Industrial robots with an open architecture have been applied to several tasks such as machining, sanding, polishing and so on. The open architecture allows system engineers to realize desirable teachingless operation. However, transplantation of an application software to other makers' industrial robots is not easy even though having an open architecture, because the specifications of interface between PC and robots differ respectively. That is the reason why the standardization of industrial robots' interfaces is now being expected and desired from robotic users. Recently, ORiN (Open Robot/Resource interface for the Network) is gathering attention as a promising middleware for the standardization of robotic interfaces. In this paper, trajectory following control based on cutter location data (CL data) is developed on ORiN interface for an educational small robot VE026A with six-DOFs. The ORiN middleware is available on the robot. Trajectory following control of an end-effector attached to the flange of the robot is a basic but important strategy for robotic application without using any robot languages. The design with ORiN interface and its experiment are shown.