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Event-driven industrial robot control architecture for the Adept V+ platform.

Oleksandr Semeniuta1, Petter Falkman2

  • 1Department of Manufacturing and Civil Engineering, NTNU Norwegian University of Science and Technology, Gjøvik, Norway.

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Summary

This study introduces a new architecture for controlling industrial robots using an event-driven approach. It enhances robot integration and flexibility in distributed systems through asynchronous programming.

Keywords:
AdeptAsyncIOCommunication protocolsComputer visionConcurrencyCoroutinesRobot architectureRoboticsSystem composabilityZeroMQ

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Area of Science:

  • Robotics
  • Distributed Systems
  • Software Engineering

Background:

  • Industrial robots are complex, interconnected systems requiring robust communication.
  • Discrete event behavior and asynchronous programming are crucial for distributed systems.
  • Event-driven architecture (EDA) is effective for loosely-coupled systems.

Purpose of the Study:

  • To propose a flexible event-based control architecture for industrial robots.
  • To address limitations in native robot platforms for distributed system integration.
  • To enable more adaptable robotic solutions using event-driven logic.

Main Methods:

  • Developed an architecture for Adept V+ robots using a TCP/IP server and robot skills.
  • Implemented a high-level control module on a dedicated computing device.
  • Utilized pyadept, Python coroutines, AsyncIO, and ZeroMQ for asynchronous programming and communication.

Main Results:

  • Facilitated bidirectional communication between the robot controller and control module.
  • Enabled publish/subscribe messaging with external systems.
  • Demonstrated flexible integration of Adept robots into distributed environments.

Conclusions:

  • The proposed architecture enhances the programmability and flexibility of industrial robots.
  • It effectively integrates robots into distributed systems using event-based control.
  • This approach supports the development of more adaptable and loosely-coupled robotic solutions.