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Control engine for cobots

Robot SW | IndyFramework

IndyFramework 3.0 is a software framework designed for the efficient development of collaborative robot applications. It operates on Neuromeka's robot controller, STEP, and allows robot control at up to 8KHz (for STEP3). With a universal and robust control algorithm library that can handle the kinematic advantages and model uncertainties of multi-joint robots, as well as an innovative collision detection algorithm, it allows for the safe implementation of various robotic tasks. Additionally, it includes various system functions for building automation systems and remote maintenance capabilities, and is designed with a software structure that allows for future expansion of additional features.

High-speed control on hard RT OS

- Native EtherCAT master running on realtime OS Xenomai optimized for 'STEP'
- Robot control frequency of maximum 8kHz (4kHz for 'STEP2')

​General-purpose articulated robot control library

- Efficient kinematics and dynamics algorithm for a variety of robot structures 
- Nonlinear H-infinity optimal control based robust control algorithm
- Stable task control capability near kinematic singularities
- Impedance control algorithm in three-dimensional space
- A variety of path planning algorithms and trajectory interpolation algorithms in joint and task space

Safety and convenience by operation without fences

- Collision detection based ‘power and force limiting’ feature
- Realtime monitoring and limitation of joint velocities and currents 
- Online programming for joint and frame moves by 'CONTY' (Android teach pendant app)
- Direct teaching for joint move programming by physically moving robot joints
- Impedance teaching for frame move programming by physically moving the robot end-effector in selected translation and/or orientation directions

System utiity functions to facilitate automation system implementation

- Standard tool modules such as electrical grippers, electro-magnetic grippers, vacuum suction tools, automatic bolt runners
- Fully isolated DIO (each 16 channels) and high-performance AIO (each 2 channels)
- Independent EtherCAT port for interface of external slaves (via internal EtherCAT hub)
- TCP/IP, Modbus, and OPC-UA for interfacing external PLCs and/or controllers (SDK programming may be necessary)
- Standard IoT protocols such as MQTT

Smart Connected Maintenance

- Remote online SW update ('CONTY' app, realtime robot control runtime, and motor driver firmware)
- Log file transfer for remote diagnosis for system malfunction
- Webcam based operation black-box feature for remote site monitoring

Extendable robot SW architecture

- Plugin structure for control logic extension
- Python-based robot motion script programming
- SDK for extension of robot functionalities and algorithms

Robot as a Tool |  Robot as a Service |  Robots for Every Workplace

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