Interactive On-Line Evaluation of Robot Motion Control
Publikation/Tidskrift/Serie: Symp. Computer Aided Control Systems Design (CACSD)
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.
This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.
- Control Engineering
- Computer Science
- robot control
- embedded software
- rapid prototyping
- nonlinear control
- robot manipulators
- passive controllers
1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99)