{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T14:20:59Z","timestamp":1761920459972,"version":"3.41.2"},"reference-count":20,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2018,2,9]],"date-time":"2018-02-09T00:00:00Z","timestamp":1518134400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,4,9]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to present an open-architecture kinematic controller, which was developed for articulated robots, facing the demands of various applications and low cost on robot system.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A general approach to develop this controller is described in hardware and software design. The hardware consists of embedded boards and programable multi-axes controller (PMAC), connected with ethernet, and the software is implemented on a robot operating system with MoveIt!. The authors also developed a teach pendant running as a LAN node to provide a human\u2013machine interface (HMI).<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The proposed approach was applied to several real articulated robot systems and was proved to be effective and portable. The proposed controller was compared with several similar systems to verify its integrality and flexibility. The openness of this controller was discussed and is summarized at the end of this paper.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The proposed approach provided an open and low-complex solution for experimental studies in the lab and short-run production in small workshops.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Several contributions are made by the research. The actuation model and communication were implemented to integrate the trajectory planning module and PMAC for setting up the physical interface. Method and program interface based on kinematics was provided to generate various interpolations for trajectory planning. A teach pedant with HMI was developed for controlling and programing the robot.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2017-0166","type":"journal-article","created":{"date-parts":[[2018,6,12]],"date-time":"2018-06-12T03:57:32Z","timestamp":1528775852000},"page":"244-254","source":"Crossref","is-referenced-by-count":8,"title":["Implementation of open-architecture kinematic controller for articulated robots under ROS"],"prefix":"10.1108","volume":"45","author":[{"given":"Yongzhuo","family":"Gao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhijiang","family":"Du","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xueshan","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanyu","family":"Su","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Mu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li Ning","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Dong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2018,2,9]]},"reference":[{"issue":"3","key":"key2021041507282409800_ref001","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1109\/MRA.2005.1511872","article-title":"Extending an industrial robot controller: implementation and applications of a fast open sensor interface","volume":"12","year":"2005","journal-title":"IEEE Robotics and Automation Magazine"},{"issue":"1","key":"key2021041507282409800_ref002","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1109\/MRA.2010.940147","article-title":"Exponential growth of ROS","volume":"18","year":"2011","journal-title":"IEEE Robotics and Automation Magazine"},{"issue":"2","key":"key2021041507282409800_ref003","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1109\/MRA.2010.936956","article-title":"Sharing software with ROS","volume":"17","year":"2010","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"key2021041507282409800_ref004","first-page":"184","article-title":"A five-layers open-architecture robot controller applied to interaction tasks","volume-title":"5th Latin American Robotic Symposium, LARS 2008","year":"2009"},{"first-page":"27","article-title":"What is an open architecture robot controller?","year":"1994","key":"key2021041507282409800_ref005"},{"issue":"3","key":"key2021041507282409800_ref006","doi-asserted-by":"crossref","first-page":"308","DOI":"10.1108\/IR-08-2015-0167","article-title":"Optimal trajectory planning for robotic manipulators using improved teaching-learning-based optimization algorithm","volume":"43","year":"2016","journal-title":"Industrial Robot: An International Journal"},{"issue":"5","key":"key2021041507282409800_ref007","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1016\/j.engappai.2004.03.010","article-title":"Development and implementation of a real-time open-architecture control system for industrial robot systems","volume":"17","year":"2004","journal-title":"Engineering Applications of Artificial Intelligence"},{"issue":"4","key":"key2021041507282409800_ref008","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1016\/S0736-5845(01)00010-2","article-title":"A PC-based open robot control system: PC-ORC","volume":"17","year":"2001","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2021041507282409800_ref009","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1109\/ICSMC.1994.399845","article-title":"Unified telerobotic architecture project status report","volume":"1","year":"1994","journal-title":"Systems, Man and Cybernetics"},{"first-page":"341","article-title":"Industrial robot controller using miniature computers","year":"2008","key":"key2021041507282409800_ref010"},{"volume-title":"Learning ROS for robotics programming: a practical, instructive, and comprehensive guide to introduce yourself to ROS, the top-notch, leading robotics framework","year":"2013","key":"key2021041507282409800_ref011"},{"issue":"2","key":"key2021041507282409800_ref012","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1109\/37.67671","article-title":"An object-oriented environment for robot system architectures","volume":"11","year":"1991","journal-title":"IEEE Control Systems"},{"first-page":"287","article-title":"Control architecture for robot cells to enable Plug\u2019n\u2019Produce","year":"2007","key":"key2021041507282409800_ref013"},{"key":"key2021041507282409800_ref014","first-page":"2089","article-title":"Universal Controller Module (UCoM) - 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