Title :
Extending an industrial robot controller: implementation and applications of a fast open sensor interface
Author :
Blomdell, Anders ; Bolmsjö, Gunnar ; Brogårdh, Torgny ; Cederberg, Per ; Isaksson, Mats ; Johansson, Rolf ; Haage, Mathias ; Nilsson, Klas ; Olsson, Magnus ; Olsson, Tomas ; Robertsson, Anders ; Wang, Jianjun
Author_Institution :
Dept. of Autom. Control, Lund Univ., Sweden
Abstract :
This paper describes the design and implementation of a platform for fast external sensor integration in an industrial robot control system. As an application and motivating example, the implementation of force controlled grinding and deburring within the AUTOFETT-project (EU Growth Programme) is reported.
Keywords :
control engineering computing; deburring; force control; grinding; industrial control; industrial robots; fast open sensor interface; force controlled deburring; force controlled grinding; industrial robot control system; Deburring; Electrical equipment industry; Force control; Force sensors; Industrial control; Robot control; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Service robots;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2005.1511872
