Control of an industrial robot using Ethernet Application to a V+ running controller

Control of flexible manufacturing systems requires the adaptation of the software components to the constraints imposed by the hardware components. As a key element of the control of flexible manufacturing systems, the control of an industrial robot is an essential first step towards the control of a whole cell. This step provides a wide field of investigation given the multitude of algorithmic combinations leading to the control of the robot. On the other hand, the optimization of such a command is an important task because of the effects it may have on the command of the whole cell. In this paper, we propose an algorithmic approach for the control of an industrial robot. Our approach is based on a dynamic data exchange (DDE) between the control and the operative part of the system. The exchanged data allows the control of the system and the information about its status. This exchange needs synchronization between the various software components of the system. The approach is implemented through a win32 software allowing the manipulation of an Adept Cobra 600 industrial robot.