Architecture Design and Application of a Compound Robot Control System with Movement–Process Collaboration

Abstract

Movement–process collaborative compound robots are an important part of intelligent factory logistics systems, and they usually have two control systems located in the movement platform and the process platform. Interaction between the two platforms often requires the central logistics execution system to work. This paper proposes a compound robot control system architecture that integrates movement control and process action control. Its hardware can be an industrial computer with movement- and process-related sensor interfaces, and its software with multi-process management completes the internal collaboration and external data exchange. This architecture can greatly reduce the cost of compound robots and the scheduling load on the central logistics system server, simplify the development of logistics control programs, improve real-time collaboration between movement and process control, and provide strong support for the realization of massive logistics devices’ collaborative management and control.

Keywords

• movement-process collaborative compound robot
• control system architecture