voraus Robot Control

The voraus Robot Control is an integral component of the voraus.core and provides the central control layer for motion control, real-time execution, and fieldbus communication. It is built on an internally developed motion core that has been refined and used in industrial applications over many years.

The voraus Robot Control enables precise and deterministic control of robots and automation systems, including custom multi-axis kinematics, drives, and peripheral devices such as gripping systems. It combines high-level motion planning with hard real-time execution, addressing the requirements of complex automation systems. A schematic overview of the voraus Robot Control architecture is shown in Fig. 1.

Fig. 1 Schematic Representation of the voraus Robot Control Architecture

The Motion Planner, which operates on a non-real-time cycle and is responsible for processing motion commands, performing kinematic and trajectory computations, and preparing motion data. The Real-Time Context, which executes deterministic real-time cycles, handles interpolation and state machines, and performs direct process data exchange with the fieldbus. Communication with physical and virtual devices is handled via a fieldbus interface, while integration with higher-level applications and external systems is provided through an OPC UA server interface. This allows commanding real-time sequences, exchanging process data, and monitoring system states without direct coupling to the real-time control layer.

A dedicated robot interface exposes essential motion and control capabilities, including jogging, linear, point-to-point (PTP), and circular motions, motion blending, coordinate system management, motion simulation, I/O handling, state monitoring, and general control functions.