yControl - Open architecture controller for Yaskawa Motoman MH5 robot

Abstract

Industrial robot manipulators have reached a stage where their mechanical characteristics are well optimized. However, industrial hardware and software control architectures are rarely open for sensor integration. In order to overcome these constraints, custom-designed hardware interfaces and software algorithms need to be designed. The paper summarizes the implementation of yControl - an open architecture controller for industrial robot Yaskawa Motoman MH5. Custom hardware and software solutions are presented. Details are provided for the Matlab/Simulink based Robotica library. An example application showing a bimanual and bilateral teleoperation system is analyzed.