Universal RT-middleware robot controller

Abstract

This paper presents a new dimension of robotics for SMEs. Open AIST RT-middleware technology enables SMEs to reuse old robots or machine tools which have good mechanism but outworn electronics. The technical solutions are described for three different experimental systems of different machines. All the systems are universal in the term that they can be connected to many different machines. They were all developed as a RT-Middleware real-time component in order to make them flexibly connectable to each other to form a production cell. The third is our latest novel conception which is combining the reliability of the LinuxCNC software system and the flexibility of RTM technology with using modern hardware elements. One of our several LinuxCNC based controllers is presented as an experimental result.