An Approach of Cyber-Physical Production Systems Architecture for Robot Control

Abstract

The changing needs of the current industrial market give a higher importance in the generation of more flexible manufacturing plants. Due to the combination of high-processing controller and high-efficiency communications, so-called Cyber-Physical Production Systems (CPPS) are one of the most common alternatives chosen by industries to fulfill their flexibility requirements. In order to satisfy production goals, enterprises opt to incorporate robotic systems into their production lines. Currently robots are compatible to be integrated within CPPS, where the high processing and communication capacities of the devices allow a general collaboration among the devices. IEC-61499 standard proposes an architecture for the generation of distributed and modular CPPS using embedded controllers. The main approach of this paper proposes the development of a CPPS based on IEC-61499 for industrial robot control, using Raspberry Pi 3B board as low-cost controller. It is generated to control the KUKA YouBot Robotic Arm execution while performing the welding tasks corresponding to a modular manufacturing system.