Modular Open System Architecture for Industrial Motion Control


MOSAIC - 5292

Keywords motion control systems, architectures, autonomous robots


Start Date: 01-OCT-90 / Duration: 27 months

[ contact / participants ]


Objectives and Approach

The objective of MOSAIC was to analyse, design, specify and implement an open modular architecture for motion control (OMC) for handling equipment (industrial robots), automatic vehicles (mobile autonomous robots) and special-purpose systems (motion-oriented shop-floor systems). The architecture design referred both to hardware and software. The resulting architecture consists of functional modules with open interfaces. By the definition of different control levels of sophistication, the application spectrum ranges from low cost controllers up to complex motion controllers for redundant robot kinematics. Modularity and flexible configurability of the control architecture is ensured by the use and preparation of standardized external interfaces, bus systems, communication protocols and internal interface descriptions.

Modular and unified motion control systems will enrich the control equipment market by:

The results from the project are:

The MOSAIC Control System has been implemented in two industrial installations: the first in form of a free-ranging and driverless fork lift carrier running at BMW (D), Production Hall 84, BMW Plant Munich-Milbertshofen and the second in form of a gantry crane controller for the welding of steel ship sections at Odense Steel Shipyard (DK). Modules of the MOSAIC controller are offered on the market by the company Philips Eindhoven (NL).


CONTACT POINT

Mr. Christoph Schaeffer
FRAUNHOFER INSTITUT IPA
Nobelstr. 12
D - 70569 STUTTGART
tel: + 49/ 711-970 1212
fax: + 49/ 711-970 1399
telex: 07255166 IPA D

Participants

IPA FRAUNHOFER GESELLSCHAFT - D - C
BMW AG - D - P
MARI APPLIED TECHNOLOGIES LTD - UK - P
MARBEN - F - P
NEDERLANDSE PHILIPS BEDRIJVEN BV - NL - P
ODENSE STEEL SHIPYARD LTD - DK - P
FAGOR - E - A
CEA - F - A
ROL - F - A
TECNIRO SA - P - A
MIKRON GMBH - D - A
INSTITUT FÜR FERTIGUNGSTECHNIK
UND FABRIKBETRIEB - D - A


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MOSAIC - 5292, December 1993


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html version of synopsis by Nick Cook