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On-Line Reconfiguration of Real-Time Robot Motion and Force Control

Författare:
Publiceringsår: 2000
Språk: Engelska
Publikation/Tidskrift/Serie: Robot Control 2000: A Proceedings volume from the 6th IFAC Symposium, Vienna, Austria, 21 - 23 September 2000
Dokumenttyp: Konferensbidrag
Förlag: Elsevier

Sammanfattning

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

Disputation

Nyckelord

  • Technology and Engineering
  • Embedded systems
  • Non-linear control
  • Robot Control
  • Force Control
  • Rapid prototyping

Övrigt

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