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| URL | https://doi.org/10.18429/JACoW-ICALEPCS2025-TUPD079 |
|---|---|
| Title | EPICS support for Universal Robots |
| Authors |
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| Abstract | The integration of modern robots into large-scale control systems, such as synchrotron beamlines, has traditionally required custom, installation-specific solutions, hindering collaboration and reusability. This work presents an EPICS support library for controlling Universal Robots (UR) e-Series robotic arms. Built on the widely used EPICS asyn module, the software provides a standardized interface for controlling UR robots from an EPICS soft IOC. This greatly simplifies deployment to new installations and promotes collaboration across robot users. In addition to exposing low-level robot functions, such as joint control and status monitoring, the library offers higher-level features, including waypoint and path creation, to facilitate common tasks like pick-and-place operations. |
| Paper | download: TUPD079.pdf |
| Cite | BibTeX, LaTeX, Text/Word, RIS, EndNote |
| Conference | 20th Int. Conf. Accel. Large Exp. Phys. Control Syst. (ICALEPCS'25) |
| Series | |
| Location | Chicago, IL, USA |
| Date | 20-26 Sep 2025 |
| Publisher | JACoW Publishing, Geneva, Switzerland |
| Editorial Board | Kent Wootton (ANL), Jeffery Biss (FNAL), Gustavo Bruno (ANL), Jeff Kirchman (ANL), Kelly Jaje (ANL), Denise Skiadopoulos (ANL), SuYin Grass Wang (ANL) |
| Online ISBN | 978-3-95450-255-4 |
| Online ISSN | 2226-0358 |
| Received | 11 September 2025 |
| Revised | 21 September 2025 |
| Accepted | 14 October 2025 |
| Issued | 25 November 2025 |
| DOI | 10.18429/JACoW-ICALEPCS2025-TUPD079 |
| Pages | 684-685 |
| Copyright | Published by JACoW Publishing under the terms of the Creative Commons Attribution 4.0 license. Any further distribution of this work must maintain attribution to the author(s), the published article's title, publisher, and DOI. |