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Interactive On-Line Evaluation of Robot Motion Control

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.


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)

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