A robot manipulator communications and control framework

Abstract

The use of industrial scale experimental machinery robot systems such as the Mitsubishi RV-2AJ manipulator in research to experimentally prove new theories is a great opportunity. The robot manipulator communications and control framework written in Java simplifies the use of Mitsubishi robot manipulators and provides communication between a personal computer and the robot. Connecting a personal computer leads to different communication modes each with specific properties, explained in detail. Integration of the framework for scientific use is shown in conjunction with a graphical user-interface and within Simulink as a Simulink block. An example application for assisted robot program generation is described.