Development of a Modular Control System for an Industrial Dismantling Robot

This article discusses the development of a new control system and data exchange protocol for a robotic complex. The control object is a remotely controlled robot ROIN RTS R-300/04. The standard robot control system ROIN RTS R-300/04 does not have sufficient fault tolerance. To solve the tasks, a modular control system concept was proposed according to which the entire control system is divided into functional units that provide local control of any robot equipment. All units are connected to a common information-command network. Each unit receives a command in a specific format and in response transmits information about its status. Thus, complex control tasks are sort of spread between the units, and the main unit at any time receives information about the status of each of the robot subsystems, which greatly facilitates the diagnosis and troubleshooting. The developed control system was assembled and installed on a serial ROIN RTS R-300/04. The number of malfunctions due to malfunctions of the control system was minimized. The modernized robot has been successfully used by UMMC.