Automatic generation of executable code for a robot cell using UPnP and XIRP

This paper deals with the concept of a control architecture for robot cells that enables Plug'n' Produce according to Plug'n'Play in the office world. To achieve this, the cell controller needs special functionality located in a software module called "P'n'P-Module". This module takes as input descriptions of devices and processes. These descriptions are then automatically evaluated in order to offer the user device-independent high-level commands to define a task for the robot cell. Based on this task definition an executable code has to be generated. The focus of this paper lies on the descriptions and algorithms necessary to generate this executable code. The presented method will be realized as a test bed within a bin picking cell using UPnP and XIRP.