Robin: An Open-Source Middleware For Plug'N'Produce Of Cyber-Physical Systems

Motivated by the Fourth Industrial Revolution, there is an ever-increasing need to integrated Cyber-Physical Systems in industrial production environments. To address the demand for flexible robotics in contemporary industrial environments and the necessity to integrate robots and automation equipment in an efficient manner, an effective, bidirectional, reliable and structured data interchange mechanism is required. As an answer to these requirements, this article presents ROBIN, an open-source middleware for achieving interoperability between the Robot Operating System and CODESYS, a softPLC that can run on embedded devices and that supports a variety of fieldbuses and industrial network protocols. The referred middleware was successfully applied and tested in various industrial applications such as battery management systems, motion, robotic manipulator and safety hardware control, and horizontal integration between a mobile manipulator and a conveyor system.