Increased Autonomy in Industrial Robotic Systems: A Framework

This paper presents an event based control system structure for the control of a robot workcell and its implementation. The goal for this control system is to autonomously manage the dynamic environment of a robot workcell. The presented control system is event driven and operates from tasks and a W...

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Vydané v:Journal of intelligent & robotic systems Ročník 19; číslo 4; s. 357 - 373
Hlavní autori: Brink, Krister, Olsson, Magnus, Bolmsjö, Gunnar
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Dordrecht Kluwer 01.08.1997
Springer Nature B.V
Predmet:
Applied sciences
Autonomy
Computer science; control theory; systems
Configurable
Control systems
Control theory. Systems
Dynamical systems
Dynamics
Exact sciences and technology
Industrial robots
Laboratory procedures
Metrology, measurements and laboratory procedures
Motion control
Physics
Robot control
Robot dynamics
Robot learning
Robotics
Robots
Studies
Tasks
Workshop procedures (welding, machining, lubrication, bearings, etc.)
Industrial robot
Control system
Programming
Autonomy
Planning
Arc welding
Real time
Implementation
ISSN:0921-0296, 1573-0409
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Abstract This paper presents an event based control system structure for the control of a robot workcell and its implementation. The goal for this control system is to autonomously manage the dynamic environment of a robot workcell. The presented control system is event driven and operates from tasks and a World model, defined in a task oriented programming session. During realisation of the tasks, the World model is continuously updated by information from sensors. The system always operates on the latest information which may result in re-planning of sub-tasks or whole tasks. The autonomous functionality of the presented system is established through reactive re-planning and configurable corrections. A high level adaptation of the model in the control system to the workcell is of great value for the performance of the robot system. An important and efficient use of robot motion control for application process controlling purposes are enabled through the control systems internal configurable interaction with the environment.
AbstractList This paper presents an event based control system structure for the control of a robot workcell and its implementation. The goal for this control system is to autonomously manage the dynamic environment of a robot workcell. The presented control system is event driven and operates from tasks and a World model, defined in a task oriented programming session. During realisation of the tasks, the World model is continuously updated by information from sensors. The system always operates on the latest information which may result in re-planning of sub-tasks or whole tasks. The autonomous functionality of the presented system is established through reactive re-planning and configurable corrections. A high level adaptation of the model in the control system to the workcell is of great value for the performance of the robot system. An important and efficient use of robot motion control for application process controlling purposes are enabled through the control systems internal configurable interaction with the environment.
Author Olsson, Magnus
Bolmsjö, Gunnar
Brink, Krister
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– sequence: 3
  givenname: Gunnar
  surname: Bolmsjö
  fullname: Bolmsjö, Gunnar
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CitedBy_id crossref_primary_10_1108_01439911211217125
crossref_primary_10_1016_S0921_8890_99_00056_1
crossref_primary_10_1108_01439910510600218
crossref_primary_10_20965_jrm_2022_p0936
crossref_primary_10_1007_s00170_013_4741_3
crossref_primary_10_1007_s00170_020_05376_w
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Cites_doi 10.1016/B978-1-55860-237-3.50005-4
10.1142/9789814360135
10.1016/0167-8493(87)90008-8
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Programming
Autonomy
Planning
Arc welding
Real time
Implementation
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138349_CR11
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138349_CR9
138349_CR3
138349_CR2
G. Grunwald (138349_CR8) 1995; 21
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StartPage 357
SubjectTerms Applied sciences
Autonomy
Computer science; control theory; systems
Configurable
Control systems
Control theory. Systems
Dynamical systems
Dynamics
Exact sciences and technology
Industrial robots
Laboratory procedures
Metrology, measurements and laboratory procedures
Motion control
Physics
Robot control
Robot dynamics
Robot learning
Robotics
Robots
Studies
Tasks
Workshop procedures (welding, machining, lubrication, bearings, etc.)
Title Increased Autonomy in Industrial Robotic Systems: A Framework
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