Abstract: Research
work on plug-and-play open architecture and object-oriented
mechatronic system integration is described. The original
controllers of two popular industrial robot manipulators Puma
560 and IBM 7575 are completely retrofitted and integrated with
a conveyor system to form a robot workcell. This robot workcell
can be programmed to run under the Ch language environment. The
outline of the Ch language, and the retrofitting strategy of the
robot workcell will be described. A sample application program
for simulated assembly operations of this robot workcell will be
presented to demonstrate the underlying principles of open
architecture integration of mechatronic systems under the
programming paradigm of the Ch language environment.
Key words: Open
architecture Objected-oriented Robot
Received December 28, 2000;
received in revised form October 18, 2001; accepted January 8, 2002
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