Control of SCARA Robot and Rotary Table in ROS and Gazebo as Part of a Cyber-Physical System

The modern development of technology in the field of manufacturing has made significant progress. Thanks to research in the field of Industry 4.0, we now have intelligent manufacturing systems based on the Internet of Things and part of Cyber-physical systems (CPS). In this research, a stand-alone control system of a SCARA robot and a rotary table is presented, as part of a production process in the industry. The technical characteristics of the robot used and of the rotary table are described. An algorithm has been developed to control the rotary table and to synchronize the work of the table and the robot. Simulation models of the robot and table are developed, methods for the control of the whole system under the robot operating system (ROS) are presented. The presented system could be used in the field of digitalization, digital twins and intelligent systems. The application of the system in the field of agriculture is considered.