Sensor Integration in Task-level Programming and Industrial Robotic Task Execution Control

Summary, in English

Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task-level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.

• Författare: Rolf Johansson; Anders Robertsson; Klas Nilsson; Torgny Brogårdh; Per Cederberg; Magnus Olsson; Tomas Olsson; Gunnar Bolmsjö
• Avdelning/ar: Institutionen för reglerteknik; Institutionen för datavetenskap; Institutionen för elektro- och informationsteknik; Institutioner vid LTH; Robotik och Semantiska System
• Publiceringsår: 2004
• Språk: Engelska
• Sidor: 284-296
• Publikation/Tidskrift/Serie: Industrial Robot
• Volym: 31
• Issue: 3
• Länkar: http://dx.doi.org/10.1108/01439910410532369
• Dokumenttyp: Artikel i tidskrift
• Förlag: Emerald Group Publishing Limited
• Ämne: Control Engineering; Computer Science
• Nyckelord: Material-Removal Processes; Force; Sensors; Robotics
• Status: Published
• Projekt: LU Robotics Laboratory; AUTOFETT; FlexAA
• ISBN/ISSN/Övrigt: ISSN: 0143-991X