Task Manager (PLC / Python)

For actual robotics applications, there is a need to send commands to the Realtime Controller on how the robots should behave for specific tasks. This is the role of the Task Manager. It basically sends a series of commands that tells the robot how it should behave on going through a series of registered hubs/poses, moving to positions acquired by cameras through object recognition, etc.

The task manager makes use of the TCP/IP Commands for the RTR Controller which can be implemented with robot controller language or PLC (Programmable Logic Controller) ladder logic that communicates with the Realtime Controller via TCP/IP connection. Additionally, RapidPlan version 2.6 and higher provide the possibility to use this interface over fieldbus, such as ProfiNet

For example, a pick and place application would require the task manager to be able to communicate with the Realtime Controller and/or peripheral devices to control each of the robots and do the following:

1. Acquire target position in robot base coordinates detected by sensors

2. Approach the pick position

3. Move to the pick position

4. Grasp the target object

5. Move the picked object to the place position

6. Release the picked object

Task Manager Examples

Below is documentation on example task manager implementations in various languages.