Interfacing the Control Systems of Enterprise-Level Process Equipment with a Robot Operating System

摘要

The analytical section of this paper deals with theoretical knowledge, considering the latest trends in the subject area. To achieve the successful implementation of cobots based on operating systems in manufacturing systems, it is necessary to pay attention specifically to the interfacing of Robot Operating Systems with the control systems of manufacturing systems at the process level of an enterprise. In the practical section, an algorithm with well-defined steps towards the successful implementation of cobots in holonic manufacturing processes is proposed. By setting up an experimental workstation in a laboratory, the proposed procedures are verified at the end of the paper. The creation of a design for the implementation of a collaborative robot with a human represents the missing link in the whole chain of commercial applications of the latest trends from the field of robotic systems in the industrial sphere. The main contributions of this study include the establishment of a communication channel between cobots and programmable logic PLCs (Programmable logic controllers), and an experimental verification of the proposed solution for the implementation of a cooperating robot with a human in a manufacturing system in the laboratory. Another advantage of this paper is the creation of a new procedure for conducting a risk analysis of cooperating robots and multipurpose autonomous devices.