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Interactive On-Line Evaluation of Robot Motion Control

In English

Författare

Summary, in English

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.

Publiceringsår

1999

Språk

Engelska

Sidor

1039-1044

Publikation/Tidskrift/Serie

Symp. Computer Aided Control Systems Design (CACSD)

Volym

2

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Control Engineering
  • Computer Science

Nyckelord

  • robot control
  • embedded software
  • rapid prototyping
  • nonlinear control
  • robot manipulators
  • passive controllers

Conference name

1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99)

Conference date

0001-01-02

Status

Published

Projekt

  • LU Robotics Laboratory
  • Sensor-based Integration and Task-level Programming, 1999-2002.
  • Lund Research Programme in Autonomous Robotics, 1998-2001
  • Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.