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Robot control as a service - towards cloud-based motion planning and control for industrial robots

: Vick, A.; Vonasek, V.; Penicka, R.; Krüger, J.


Institute of Electrical and Electronics Engineers -IEEE-:
10th International Workshop on Robot Motion and Control, RoMoCo 2015. Workshop Proceedings : Poznań, Poland, 6-8 July 2015
Piscataway, NJ: IEEE, 2015
ISBN: 978-1-4799-7044-5 (Print)
ISBN: 978-1-4799-7043-8
International Workshop on Robot Motion and Control (RoMoCo) <10, 2015, Poznan>
Conference Paper
Fraunhofer IPK ()

This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented.