Master Thesis - Hochschule Bonn-Rhein-Sieg
Master Thesis - Hochschule Bonn-Rhein-Sieg
Master Thesis - Hochschule Bonn-Rhein-Sieg
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3. Hard- and software <strong>Master</strong> <strong>Thesis</strong> Björn Ostermann page 19 of 126<br />
3 Description of the hard- and software<br />
To achieve the desired goal, a robot avoiding dynamic objects, in addition to the robot further hard-<br />
and software is needed, as Figure 4 shows.<br />
PC<br />
Control Program<br />
Data<br />
Processing<br />
Control<br />
Commands<br />
Data<br />
Acquisition<br />
3d Camera<br />
Robot<br />
Control<br />
Panel<br />
Control<br />
Commands<br />
Control<br />
Commands<br />
Figure 4: Hard- and software, necessary for the approach from chapter 2.3.2<br />
The complete assembly consists of:<br />
- robot<br />
PLC<br />
Safety<br />
Controller<br />
Control<br />
Cabinet<br />
- control cabinet, housing the robot’s programmable logic controller (PLC) and a safety controller<br />
- control panel<br />
- 3D Camera<br />
- PC<br />
- controlling program<br />
The controlling program, running on the PC, is collecting data from the 3D camera, build by Mesa<br />
Imaging AG, processing this data and sending controlling commands to a PLC according to the<br />
computed results. The PLC controls the robot, as long as the control panel sends an approval signal.<br />
All the time, the reduced speed of the robot is monitored by the Esalan-SafetyController, by ELAN,<br />
which was developed in cooperation with REIS and the BGIA [54].<br />
A detailed diagram, showing the connection between the PC and the robot, respectively the PC and the<br />
camera, can be found in chapter 3.6.
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