Design and experience with a framework for external motion control of industrial robots is presented. The framework is implemented entirely in Python. It serves as a proof of concept for performing motion control in Python, from a PC with connection to an industrial robot controller. Robotic applications requiring advanced, custom motion control, and a high level of integration with sensors and other external systems, may thus beneﬁt from the efﬁciency of Python in terms of reduced development time and code complexity. The framework, dubbed PyMoCo, supplies a set of canonical motion controllers, which are comparable to those found in contemporary industrial robot controllers. Fundamental facilities for implementing new motion controllers, or extending the canonical motion controllers, is a natural part of PyMoCo. Laboratory applications of sensor- and vision-based control demonstrate the usability of PyMoCo as a motion control framework and Python as a robotics application platform. For motion control applications with a control frequency not exceeding a couple of hundred Hertz, computation deadlines no shorter than some milliseconds, and latency and jitter at the order of some milliseconds, PyMoCo may be considered a feasible framework.
Morten Lind(1) and Johannes Schrimpf(2)
- Department of Production and Quality Engineering, Norwegian University of Science and Technology, 7491 Trondheim, Norway
- Department of Engineering Cybernetics, Norwegian University of Science and Technology, 7491 Trondheim, Norway