And) for St bli robots. It allows an external controller to move individual manipulator drives, control the TCP trajectory and program whole sequences of paths. An ordinary programmable logic controller (PLC) is often used as an external controller. The manufacturer gives an BSJ-01-175 Protocol application programming interface (API) for PLC controllers from numerous companies, like: Beckhoff (Beckhoff, Verl, Germany),Sensors 2021, 21,three ofSiemens (Siemens AG, Berlin, Germany), Rockwell (Rockwell Automation, Inc., Milwaukee, WI, USA). This answer was employed in [23] to implement a proprietary force control method in an effort to increase the top quality of the drilling procedure in CFRP material. The role from the external controller was performed by the Beckhoff C6930 industrial pc (Beckhoff, Verl, Germany), which performed the position orce handle of your manipulator. Ultimately, because of the practical experience in GS-626510 Epigenetics functioning with ABB robots, it was decided to select this company’s robot to construct a new test stand. The robot controller is equipped using the software add-on External Guided Motion (ABB Ltd., Z ich, Switzerland), EGM for brief. As inside the case of RSI for KUKA robots, this add-on makes it possible for us to right the programmed path of the robot but also permits control from the manipulator’s trajectory from an external device [24]. We decided to make use of the application within the Simulink environment (The MathWorks, Inc., Natick, MA, USA) as a platform for an external controller. Post [22] presents the KUKA Sunrise Toolbox (KUKA AG, Augsburg, Germany) that makes it possible for handle of robots using the KUKA Sunrise.OS method in the Matlab environment (The MathWorks, Inc., Natick, MA, USA). The creators extended this tool with all the Simulink-iiwa interface that enables control of KUKA robots in Simulink [25]. Simulink tends to make it possible to simply simulate and test all control systems, e.g., manipulators. It has a number of ready-made tools, such as the Robotics Toolbox, which contains functions for determining the transformation of reference systems, solving basic and inverse kinematics and dynamics tasks, etc. At present, there’s no tool in Simulink that permits handle of ABB robots via EGM. This paper presents a proprietary answer of an EGM interface within the type of an S-function block for the Simulink atmosphere. Its task is to exchange facts regarding the state in the manipulator and send the trajectory to be performed by the robot. Also, it receives information from a six-axis force sensor, which can be component from the factory Force Control choice. The block is universal and can be implemented in any Simulink application. The main novelty from the function is the fact that it will be feasible to simulate the operation of manage systems and conduct experiments on a genuine object within one atmosphere. Section 2 describes the building with the robotic test stand as well as the equipment enabling its use for testing force manage systems. Section 3 describes the structure and operation from the ABB EGM Toolbox interface. As an instance with the interface operation, Section 4 presents the results of an experiment carried out on the operation of the interface primarily based on a uncomplicated positional force controller. 2. Building of your Robotic Station The robotic station consists of an ABB IRB 2400 industrial robot (ABB Ltd., Z ich, Switzerland) equipped with all the Force Control and EGM systems. Force Manage is definitely an addon to ABB robots that enables us to program the robot’s trajectory based around the measured force exerted around the rob.