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On-Line Reconfiguration of Real-Time Robot Motion and Force control

Robertsson, Anders LU ; Valera, Angel; Nilsson, Klas LU and Johansson, Rolf LU (2000) 6th Int. IFAC Symposium on Robot Control (SYROCO 2000) In Symposium on Robot Control (SYROCO)
Abstract
Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Robot Control, Force Control, Embedded systems, Non-linear control, Rapid prototyping
in
Symposium on Robot Control (SYROCO)
publisher
IFAC
conference name
6th Int. IFAC Symposium on Robot Control (SYROCO 2000)
language
English
LU publication?
yes
id
f3168aff-fbd1-40f3-8ad5-f34f167a7b0c (old id 961564)
date added to LUP
2008-01-31 10:38:31
date last changed
2016-04-16 07:23:01
@inproceedings{f3168aff-fbd1-40f3-8ad5-f34f167a7b0c,
  abstract     = {Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.},
  author       = {Robertsson, Anders and Valera, Angel and Nilsson, Klas and Johansson, Rolf},
  booktitle    = {Symposium on Robot Control (SYROCO)},
  keyword      = {Robot Control,Force Control,Embedded systems,Non-linear control,Rapid prototyping},
  language     = {eng},
  publisher    = {IFAC},
  title        = {On-Line Reconfiguration of Real-Time Robot Motion and Force control},
  year         = {2000},
}