In this paper we present the real-time control of an industrial manipulator with RTAI-Linux whichhas been developed at the Mechatronics laboratory of the University of Modena and Reggio Emilia. Therobot is an AXTRON and it is produced by the RRRobotica in Reggio Emilia (Italy). The manipulatoris a SCARA-like robot with three degrees of freedom; it has two actuated rotational joints and a manualprismatic joint. The robot is mainly used for micro percussion marking, engraving and glue dispensing.Each rotational joint is actuated by a stepper motor with a resolution of 0.024 mm and the actuated axesare provided with range-delimiters.

Control of an Industrial Robot Using RTAI Linux / Secchi, Cristian; Fantuzzi, Cesare; Gianotti, A.. - ELETTRONICO. - (2003). ((Intervento presentato al convegno Fifth Real-time Linux Workshop tenutosi a Valenza, Spagna nel Novembre 2003.

Control of an Industrial Robot Using RTAI Linux

SECCHI, Cristian;FANTUZZI, Cesare;
2003

Abstract

In this paper we present the real-time control of an industrial manipulator with RTAI-Linux whichhas been developed at the Mechatronics laboratory of the University of Modena and Reggio Emilia. Therobot is an AXTRON and it is produced by the RRRobotica in Reggio Emilia (Italy). The manipulatoris a SCARA-like robot with three degrees of freedom; it has two actuated rotational joints and a manualprismatic joint. The robot is mainly used for micro percussion marking, engraving and glue dispensing.Each rotational joint is actuated by a stepper motor with a resolution of 0.024 mm and the actuated axesare provided with range-delimiters.
Fifth Real-time Linux Workshop
Valenza, Spagna
Novembre 2003
Secchi, Cristian; Fantuzzi, Cesare; Gianotti, A.
Control of an Industrial Robot Using RTAI Linux / Secchi, Cristian; Fantuzzi, Cesare; Gianotti, A.. - ELETTRONICO. - (2003). ((Intervento presentato al convegno Fifth Real-time Linux Workshop tenutosi a Valenza, Spagna nel Novembre 2003.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/466698
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