Control of industrial robot with a fieldbus

Abstract

The paper deals with the control of an industrial robot on a local area network using an industrial fieldbus: the PROFIBUS DP. The main goal is to explain the use of this architecture in order to make available a distributed control and to open the control scheme. Next, we present different advanced control schemes and their implementation with an industrial robot. With this new control system, different kinds of controllers and/or reference generators can be obtained in a very easy way.