Robot Program Handler

Purpose

The Robot Program Handler can be used for the external exchange of robot programs (KUKA). The control takes place via Orion Context Broker (OCB).

Features

• robot program transfer due to OCB request from file server to robot
• robot program transfer due to OCB request from robot to file server
• robot program status comparison between robot and file server

Overview

The Robot Program Handler was developed as part of the Robosonic Project (Part of the 2nd DIH² funding project). Developed by RoWa Automation GmBh

Architecture

The whole picture shows the scope of the entire Robosonic project. The red square shows the components of the Robot Program Handler.

Basically, the Program Handler consists of 3 software components:

• Robot Program Handler - Server
• Robot Program Handler - Client
• File Server

Robot Program Handler - Server

Is a software written in C++ that is based on the OpenSource C3bridge-server. The software itself has to be installed directly on the robot and .here it takes over the functions for sending and receiving robot programs.

Robot Program Handler - Client

The robot program handler - client serves as a communication bridge between the individual components. The interface to the OCB was realised via a specially developed API. The communication between client and server is done over TCP/IP. Furthermore, the client takes over the program transfer between file server and robot.

File Server

The file server is used to make robot programs available to several processing centres.

How to install it?

Check the file How_To_Install.md and follow steps.

How to adapt it?

Check the file How_To_Adapt.md and follow steps.

How to deploy it?

Check the file How_To_Deploy.md and follow steps.

How to use it?

Check the file How_To_Use.md and follow steps.

Environment Restrictions

Known Limitations

At the moment only can be used with KUKA KRC4 robots.

Improvements Backlog

License

Provided under various open source licenses (mainly Apache License 2.0 and MIT). Third-party libraries or application servers included are distributed under their respective licenses. Full list including optional dependencies can be found on Camunda - Third party libraries.