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Interactive On-Line Evaluation of Robot Motion Control

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Author

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.

Publishing year

1999

Language

English

Pages

1039-1044

Publication/Series

Symp. Computer Aided Control Systems Design (CACSD)

Volume

2

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering
  • Computer Science

Keywords

  • 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

Project

  • 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.