Ch Robot Package

The Ch Robot package is an open source middleware for the collaborative control of a robot workcell under the under the robot programming environment Ch. The middleware provides higher level programming of an automation cell in an environment that supports easy integration of mechantronic devices with the ability to interface with low level device drivers.

Automation workcell in the Integration Engineering Laboratory

The middleware provides commonly used functions for robot manipulator programming and currently supports two widely used robotic manipulators, the IBM 7575 and Puma 560, and a conveyor system. Other mechatronic systems and functionalities can be easily added if desired. The middleware is object-oriented and accessible through the use of a robot class. Robot dependent information such as Denavit-Hartenberg parameters, calibration data, and servo control parameters are stored in configuration files.

System Requirements

	(1)	Ch Standard or Professional Edition version 5.5.0.13221 or higher. Ch is available for download from SoftIntegration.
	(2)	The Ch PMAC 2.0 package.