DOI: 10.17587/prin.9.253-261

Development of Applied Programming Interface for Control of Manipulator Mitsubishi RV-2FB

D. A. Yukhimets, undim@iacp.dvo.ru, Institute of automation and control processes FEB RAS, Vladivostok, 690041, Russian Federation, E. E. Yudinkov, anstertum@gmail.com, Far Eastern Federal University, Vladivostok, 690000, Russian Federation

Corresponding author: Yukhimets Dmitriy A., Senior Researcher, Institute of automation and control processes FEB RAS, Vladivostok, 690041, Russian Federation,E-mail: undim@iacp.dvo.ru

The implementation method of application programming interface for industrial manipulator on the base of web technologies for creating distributed control systems is proposed in this paper. Topicality of this task is defined by necessity integration of a standard industrial equipment with external intelligent systems of control and data processing for automatization of complex technological operations in uncertain environment. The application programming interface for robot manipulator Mitsubishi RV-2FB is based on the popular software platform for development of web applications Vue.js and network communication library Flask as connected link between all modules of application interface. Using this platform allows one to create interactive and dynamic user interfaces which satisfied conception of real-time control. Herewith using Flask library allows one to implement low-level communication between user interface and robot manipulator and provides stability of the connection. Final link of implemented system is the program on MELFA BASIC V language executing by industrial controller CR-750D. This program is responsible for receiving commands from user interface, their serialization and execution by controller resources. Developed user interface consists of three main parts: users view implemented by components based on Vue.js platform; systems functions, implemented by Flask library and responsible for data transferring between system components; dispatcher (server), responsible for interacting of software part and manipulator. Results of research confirm that implemented application programming interface for robot manipulator Mitsubishi RV2-FB has efficacy and reliability for transferring control messages. Also it provides simple control of manipulator movement without using of operators panel or necessity of writing programs for controllers CR-750D.

Keywords: manipulator, program interface, HTTP, distributed control, TCP/IP, motion control

pp. 253–261

For citation:
Yukhimets D. A., Yudinkov E. E. Development of Applied Programming Interface for Control of Manipulator Mitsubishi RV-2FB, Programmnaya Ingeneria, 2018, vol. 9, no. 6, pp. 253—261.

This work was supported by the Russian Foundation for Basic Research (project No. 16-07-00718)