Studierende: |
Roman Schnider, schnirom |
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Lars Widmer, widmelar |
Betreuer: |
Charles Brom, bmas |
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Gion Baker, bke |
The Institute of Mechatronic Systems (IMS) at the Zurich University of Applied Sciences Winterthur is involved in the international research project PABADIS - Plant Automation Based on Distributed Systems. This project is patronised by the European Union and addresses the given topic. One of the main aspects of the PABADIS approach is to easily integrate new plants like robots in a given environment through plug&participate technologies. Sun Microsystem's Jini-Technology is very dedicated to implement this concept. In order to analyse the industrial relevance of PABADIS, a delta robot of SIG Pack Systems AG has been put on stream in the institute's laboratory.
The main goal of this assignment was the integration of the given robot control system into a Jini-Community. To get accustomed with Jini, we first implemented a Jini test-network with some services that are able to receive text messages and redirect them to a printer, mail server or a regular screen.
In this community, the delta robot is able to offer its own service as well. This service defines four different motion sequences. A proper client application, that knows of the robot service, is able to use them and start the motions remotely with the GUI. The robot control system is written in C++. On the other hand, the Jini Technology is completely based on Java. TCP-Sockets are used for the communication between these two platforms.
The services of the Jini test-network have been fully completed. The integration of the delta robot has been brought to a level. Jini's reliability and robustness as well as security related aspects of a robot have been considered.
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