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Interactive On-Line Evaluation of Robot Motion Control

Valera, Angel; Robertsson, Anders LU ; Nilsson, Klas LU and Johansson, Rolf LU (1999) 1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99) In Symp. Computer Aided Control Systems Design (CACSD) 2. p.1039-1044
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.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
robot control, embedded software, rapid prototyping, nonlinear control, robot manipulators, passive controllers
in
Symp. Computer Aided Control Systems Design (CACSD)
volume
2
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99)
external identifiers
  • Scopus:0033334723
language
English
LU publication?
yes
id
7d084e2a-37a0-4ea7-876f-7795316e97dd (old id 961719)
date added to LUP
2008-01-28 10:43:26
date last changed
2016-10-13 04:47:16
@misc{7d084e2a-37a0-4ea7-876f-7795316e97dd,
  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.},
  author       = {Valera, Angel and Robertsson, Anders and Nilsson, Klas and Johansson, Rolf},
  keyword      = {robot control,embedded software,rapid prototyping,nonlinear control,robot manipulators,passive controllers},
  language     = {eng},
  pages        = {1039--1044},
  publisher    = {ARRAY(0x7626538)},
  series       = {Symp. Computer Aided Control Systems Design (CACSD)},
  title        = {Interactive On-Line Evaluation of Robot Motion Control},
  volume       = {2},
  year         = {1999},
}