Community Research and Development Information Service - CORDIS

CLEOPATRA: complex robot control

Smart Welder is a robot control system which allows more flexible manipulation of complex robotics applications. Control of up to 12 axes is possible, and the controller uses parallel architecture to give very high performance, making robot movements smooth and accurate. It can be used to enhance existing robotics systems with a large number of redundant axes, or those which do not have full sensor integration. Smart Welder is currently being demonstrated at Odense Steel Shipyard (OSS), where computer-aided design (CAD) instructions and sensor information are combined and interpreted, giving a high degree of precision and control in the welding process.

The robot controller provides access to CAD and simulation input. The programming is done in the standardized industrial robot language (IRL), allowing the on-line integration of vision and sensor data during programme execution. Up to 12 axes can be manipulated. Use of a parallel architecture gives very fast sampling and interpolation times, leading to smooth and accurate robot movements. An open, modular approach to the architecture makes the controller easy to reconfigure to different kinematics. This in turn ensures high reliability and low adaptation costs for the user. The system has been migrated from a transputer network to a Power personal computer (PC) platform.

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