Implementation of sensor-based control algorithms in an industrial robot controller
This paper presents a prototype robot controller that allows easy implementation of model-based andsensor-based control concepts. The prototype is built around the state-of-the-art industrial COMAU C3G controller and it accomodates the additional control functions by integrating additional hardware...
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| Vydané v: | Control engineering practice Ročník 3; číslo 9; s. 1307 - 1313 |
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| Hlavní autori: | , , |
| Médium: | Journal Article |
| Jazyk: | English |
| Vydavateľské údaje: |
Elsevier Ltd
1995
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| ISSN: | 0967-0661, 1873-6939 |
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| Abstract | This paper presents a prototype robot controller that allows easy implementation of model-based andsensor-based control concepts. The prototype is built around the state-of-the-art industrial COMAU C3G controller and it accomodates the additional control functions by integrating additional hardware and software modules in the standard controller architecture. Therefore this seems a promising approach for the introduction of sensor-based control in industrial robotics. The prototype proves to be interesting for robotics research also, since it combines flexibility with the reliability of standard industrial components. |
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| AbstractList | This paper presents a prototype robot controller that allows easy implementation of model-based andsensor-based control concepts. The prototype is built around the state-of-the-art industrial COMAU C3G controller and it accomodates the additional control functions by integrating additional hardware and software modules in the standard controller architecture. Therefore this seems a promising approach for the introduction of sensor-based control in industrial robotics. The prototype proves to be interesting for robotics research also, since it combines flexibility with the reliability of standard industrial components. This paper presents a prototype robot controller that allows easy implementation of model-based and sensor-based control concepts. The prototype is built around the state-of-the-art industrial COMAU C3G controller and it accommodates the additional control functions by integrating additional hardware and software modules in the standard controller architecture. Therefore this seems a promising approach for the introduction of sensor-based control in industrial robotics. The prototype proves to be interesting for robotics research also, since it combines flexibility with the reliability of standard industrial components. |
| Author | Magnani, G. Nicolodi, S. Carozzi, C. |
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| Cites_doi | 10.1109/TSMC.1983.6313163 10.1109/JRA.1987.1087068 10.1016/0967-0661(93)90012-G |
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| Keywords | Industrial robots Open control systems Robot control Force control Impedance control |
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| References | Colombina, Didot, Magnani, Rusconi (BIB1) 1994 Dogliani, Magnani, Sciavicco (BIB2) 1993; Vol. 7 Luh (BIB9) 1983; Vol. SMC-13 Surdilovic, Vukobratovic (BIB11) 1993 Elfving, Kirchhoff (BIB4) 1991; Vol. 15 Khatib (BIB8) 1987; Vol. RA-3 Nicolodi, Surdilovic, Schott, Boumans, Putz (BIB10) 1994 Ferretti, Maffezzoni, Magnani, Rocco (BIB5) 1993; Vol. 1 Duelen, Munch, Surdilovic, Timm (BIB3) 1992 Fioretti, Poloni, Nicolò, Ulivi, Carozzi (BIB6) 1993 Hatley, Pirbhai (BIB7) 1987 Colombina (10.1016/0967-0661(95)00131-D_BIB1) 1994 Elfving (10.1016/0967-0661(95)00131-D_BIB4) 1991; Vol. 15 Fioretti (10.1016/0967-0661(95)00131-D_BIB6) 1993 Surdilovic (10.1016/0967-0661(95)00131-D_BIB11) 1993 Khatib (10.1016/0967-0661(95)00131-D_BIB8) 1987; Vol. RA-3 Duelen (10.1016/0967-0661(95)00131-D_BIB3) 1992 Ferretti (10.1016/0967-0661(95)00131-D_BIB5) 1993; Vol. 1 Nicolodi (10.1016/0967-0661(95)00131-D_BIB10) 1994 Dogliani (10.1016/0967-0661(95)00131-D_BIB2) 1993; Vol. 7 Luh (10.1016/0967-0661(95)00131-D_BIB9) 1983; Vol. SMC-13 Hatley (10.1016/0967-0661(95)00131-D_BIB7) 1987 |
| References_xml | – year: 1992 ident: BIB3 article-title: Automated Force Control Schemes for Robotics Deburring and Experimental Evaluation publication-title: IECON '92 – volume: Vol. SMC-13 year: 1983 ident: BIB9 article-title: Conventional Controller Design for Industrial Robots — A Tutorial publication-title: IEEE Transactions on Systems, Man and Cybernetics – start-page: 1954 year: 1994 end-page: 1961 ident: BIB1 article-title: Automation and Robotics Technology Testbed for External Servicing publication-title: IROS '94 – volume: Vol. 7 start-page: 19 year: 1993 end-page: 22 ident: BIB2 article-title: An Open Industrial Robot Controller publication-title: IEEE Robotics & Autom. Newsletter – year: 1993 ident: BIB11 article-title: Impact of Target Impedance on Contact Stability publication-title: ICAR '93 – volume: Vol. 15 year: 1991 ident: BIB4 article-title: Design Methodology for Space Automation and Robotics Systems publication-title: ESA Journal – volume: Vol. 1 year: 1993 ident: BIB5 article-title: Decoupling Force and Motion Control in Industrial Robots publication-title: Control Engineering Practice – year: 1993 ident: BIB6 article-title: Implementation of a Tracking Learning Controller for an Industrial Manipulator publication-title: IEEE Conf. on Control Applications – year: 1987 ident: BIB7 article-title: Strategies for Real-Time System Specification – volume: Vol. RA-3 year: 1987 ident: BIB8 article-title: A Unified Approach for Motion and Force Control of Robot Manipulators: the Operational Space Formulation publication-title: IEEE Journal of Robotics and Automation – year: 1994 ident: BIB10 article-title: SPARCO: A Space Robot Controller with Advanced Sensor-Based Control Capabilities derived from an Industrial Controller publication-title: Second IARP – year: 1994 ident: 10.1016/0967-0661(95)00131-D_BIB10 article-title: SPARCO: A Space Robot Controller with Advanced Sensor-Based Control Capabilities derived from an Industrial Controller – volume: Vol. SMC-13 year: 1983 ident: 10.1016/0967-0661(95)00131-D_BIB9 article-title: Conventional Controller Design for Industrial Robots — A Tutorial publication-title: IEEE Transactions on Systems, Man and Cybernetics doi: 10.1109/TSMC.1983.6313163 – year: 1993 ident: 10.1016/0967-0661(95)00131-D_BIB11 article-title: Impact of Target Impedance on Contact Stability – year: 1987 ident: 10.1016/0967-0661(95)00131-D_BIB7 – volume: Vol. 15 year: 1991 ident: 10.1016/0967-0661(95)00131-D_BIB4 article-title: Design Methodology for Space Automation and Robotics Systems publication-title: ESA Journal – volume: Vol. RA-3 issue: No. 1 year: 1987 ident: 10.1016/0967-0661(95)00131-D_BIB8 article-title: A Unified Approach for Motion and Force Control of Robot Manipulators: the Operational Space Formulation publication-title: IEEE Journal of Robotics and Automation doi: 10.1109/JRA.1987.1087068 – volume: Vol. 7 start-page: 19 year: 1993 ident: 10.1016/0967-0661(95)00131-D_BIB2 article-title: An Open Industrial Robot Controller publication-title: IEEE Robotics & Autom. Newsletter – start-page: 1954 year: 1994 ident: 10.1016/0967-0661(95)00131-D_BIB1 article-title: Automation and Robotics Technology Testbed for External Servicing publication-title: IROS '94 – year: 1992 ident: 10.1016/0967-0661(95)00131-D_BIB3 article-title: Automated Force Control Schemes for Robotics Deburring and Experimental Evaluation publication-title: IECON '92 – volume: Vol. 1 year: 1993 ident: 10.1016/0967-0661(95)00131-D_BIB5 article-title: Decoupling Force and Motion Control in Industrial Robots publication-title: Control Engineering Practice doi: 10.1016/0967-0661(93)90012-G – year: 1993 ident: 10.1016/0967-0661(95)00131-D_BIB6 article-title: Implementation of a Tracking Learning Controller for an Industrial Manipulator |
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| SubjectTerms | Force control Impedance control Industrial robots Open control systems Robot control |
| Title | Implementation of sensor-based control algorithms in an industrial robot controller |
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