Title :
Sensor equipped robot control
Author_Institution :
Dept. of Power Electron. & Electr. Drives, Siegen Univ., Germany
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;
Conference_Titel :
Industrial Electronics, 1996. ISIE '96., Proceedings of the IEEE International Symposium on
Conference_Location :
Warsaw
Print_ISBN :
0-7803-3334-9
DOI :
10.1109/ISIE.1996.548394
