Sensor equipped robot control

Author

Kim, K.H.

Author_Institution

Dept. of Power Electron. & Electr. Drives, Siegen Univ., Germany

Volume

1

fYear

1996

fDate

17-20 Jun 1996

Firstpage

66

Abstract

A position control algorithm for a sensor equipped industrial robot is developed based on a transputer-network. This approach was made by interfacing each transputer directly to its associated drive. Every axis is controlled in a closed loop by its own transputer. Three distance sensors are used in order to control the orientation of the robot. With this sensor system the distance can be controlled in real-time between uncertain working surface and tool, which is mounted on the end-effector. To show how to keep the distance, a one-dimensional sensor is used

Keywords

closed loop systems; distance measurement; electric sensing devices; industrial manipulators; manipulators; position control; transputers; closed loop axis control; distance control; distance sensors; drive; industrial robot; one-dimensional sensor; position control algorithm; real-time; robot orientation control; sensor equipped robot control; transputer-network; Capacitive sensors; Electrical resistance measurement; Optical receivers; Optical sensors; Robot control; Robot sensing systems; Sensor systems; Service robots; Tactile sensors; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 1996. ISIE '96., Proceedings of the IEEE International Symposium on

Conference_Location

Warsaw

Print_ISBN

0-7803-3334-9

Type

conf

DOI

10.1109/ISIE.1996.548394

Filename

548394