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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Veröffentlicht in:Control engineering practice Jg. 3; H. 9; S. 1307 - 1313
Hauptverfasser: Carozzi, C., Magnani, G., Nicolodi, S.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier Ltd 1995
Schlagworte:
Force control
Impedance control
Industrial robots
Open control systems
Robot control
Industrial robots
Open control systems
Robot control
Force control
Impedance control
ISSN:0967-0661, 1873-6939
Online-Zugang:Volltext
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Zusammenfassung: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.
Bibliographie:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0967-0661
1873-6939
DOI:10.1016/0967-0661(95)00131-D