Desarrollo de un sistema distribuido bajo la norma IEC-61499 para control de robot Kuka Modelo Youbot.

Abstract

The present research work has as a purpose the use of the IEC-61499 standard for the development of a distributed control system for the control of a Kuka model Youbot robot. This standard consists of a reference architecture for the development of control applications with decentralized logic. It is based on functional blocks (FBs) that are defined as the basic structural unit of these models, they have a high level of versatility for the design of systems, since it allows to combine software independent of the hardware used. To model the system, the software was used 4DIAC-IDE and functional blocks (FBs) were created for the control of the omnidirectional platform, the robotic arm and the gripping gripper that together make up the robot, later with the help of the PuttY program the FORTE runtime was remotely implemented. Which was executed on a PC that is on board the robot Kuka YouBot. It was evidenced in the results that the programming by means of FBs has made that these are seen as an effective tool for the automation of flexible and reconfigurable systems, obtaining an effectiveness of 98.89% of correctness in the stipulated tests. It is concluded that the standard allows to control the algorithm through events, since it has a connection between the execution of the flow of events and data flow, in this way you can establish priorities in the order of execution of the functional blocks, which proved the operation and the features that offer This new programming method and the latest software versions based on the currently available.