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Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface

Blomdell, Anders LU ; Bolmsjö, Gunnar LU ; Brogårdh, Torgny; Cederberg, Per LU ; Isaksson, Mats; Johansson, Rolf LU ; Haage, Mathias LU ; Nilsson, Klas LU ; Olsson, Magnus LU and Olsson, Tomas LU , et al. (2005) In IEEE Robotics & Automation Magazine 12(3). p.85-94
Abstract
Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications. To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment... (More)
Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications. To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment in products required affordable computing power, efficientengineering tools, customer needs for productivity/performance, and improved end-user competence in the utilization of performance features. However, applications that are considered nonstandard today motivate a variety of research efforts and system development to package results in a usable form. Actually, robots are not useful for many manufacturing tasks today, in particular those found in small and medium enterprises (SMEs). Reasonsinclude complex configuration, nonintuitive (for the shop floor) programming, and difficulties instructing robots to deal with variations in their environment. The latter challenge includes both task definitions and definition of motion control utilizing external sensors. The key word here is flexibility, and flexible motion control is particularly difficult since the user or system integrator needs to influence the core real-time software functions that are critical for the performance and safe operation of the system. We must find techniques that permit real-time motion controllers to be extended for new, demanding application areas. (Less)
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publication status
published
subject
keywords
flexible motion control, sensor interfaces, sensorbased control, industrial robots, Open robot control, force control
in
IEEE Robotics & Automation Magazine
volume
12
issue
3
pages
85 - 94
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000231969600012
  • scopus:27844573923
ISSN
1070-9932
DOI
10.1109/MRA.2005.1511872
language
English
LU publication?
yes
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83ffa57a-082f-45f2-98d0-8220e3303fcd (old id 160743)
date added to LUP
2007-06-21 13:44:37
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2017-11-19 04:06:15
@article{83ffa57a-082f-45f2-98d0-8220e3303fcd,
  abstract     = {Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications. To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment in products required affordable computing power, efficientengineering tools, customer needs for productivity/performance, and improved end-user competence in the utilization of performance features. However, applications that are considered nonstandard today motivate a variety of research efforts and system development to package results in a usable form. Actually, robots are not useful for many manufacturing tasks today, in particular those found in small and medium enterprises (SMEs). Reasonsinclude complex configuration, nonintuitive (for the shop floor) programming, and difficulties instructing robots to deal with variations in their environment. The latter challenge includes both task definitions and definition of motion control utilizing external sensors. The key word here is flexibility, and flexible motion control is particularly difficult since the user or system integrator needs to influence the core real-time software functions that are critical for the performance and safe operation of the system. We must find techniques that permit real-time motion controllers to be extended for new, demanding application areas.},
  author       = {Blomdell, Anders and Bolmsjö, Gunnar and Brogårdh, Torgny and Cederberg, Per and Isaksson, Mats and Johansson, Rolf and Haage, Mathias and Nilsson, Klas and Olsson, Magnus and Olsson, Tomas and Robertsson, Anders and Wang, Jianjun},
  issn         = {1070-9932},
  keyword      = {flexible motion control,sensor interfaces,sensorbased control,industrial robots,Open robot control,force control},
  language     = {eng},
  number       = {3},
  pages        = {85--94},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  series       = {IEEE Robotics & Automation Magazine},
  title        = {Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface},
  url          = {http://dx.doi.org/10.1109/MRA.2005.1511872},
  volume       = {12},
  year         = {2005},
}