Interactive on-line evaluation of robot motion control

Author

Valera, A. ; Robertsson, A. ; Nilsson, K. ; Johansson, R.

Author_Institution

Dept. of Syst. Eng. & Autom., Valencia Tech. Univ., Spain

Volume

2

fYear

1999

fDate

1999

Firstpage

1039

Abstract

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications

Keywords

control system CAD; industrial manipulators; motion control; nonlinear control systems; real-time systems; CACSD packages; MATLAB; Simulink toolbox; built-in safety logic; control data structure; embedded software; industrial robots; interactive online evaluation; nonlinear control; passive controllers; passivity-based control scheme; rapid prototyping; real-time architecture; robot control; robot manipulators; robot motion control; servo control; total open control architecture; Control systems; Electrical equipment industry; Industrial control; Logic; Motion control; Robot control; Robot motion; Robot sensing systems; Safety; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on

Conference_Location

Kohala Coast, HI

Print_ISBN

0-7803-5446-X

Type

conf

DOI

10.1109/CCA.1999.801036

Filename

801036