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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Popis
Shrnutí: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.
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ISSN:0921-0296
1573-0409
DOI:10.1023/A:1007909120189