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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)
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
; ; and
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
host publication
Symposium on Robot Control (SYROCO)
publisher
IFAC
conference name
6th Int. IFAC Symposium on Robot Control (SYROCO 2000)
conference location
Vienna, Austria
conference dates
2000-09-21
project
LU Robotics Laboratory
Sensor-based Integration and Task-level Programming, 1999-2002.
Lund Research Programme in Autonomous Robotics, 1998-2001
Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.
language
English
LU publication?
yes
id
f3168aff-fbd1-40f3-8ad5-f34f167a7b0c (old id 961564)
date added to LUP
2016-04-04 10:02:40
date last changed
2021-05-06 20:33:30
@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)},
  language     = {eng},
  publisher    = {IFAC},
  title        = {On-Line Reconfiguration of Real-Time Robot Motion and Force control},
  year         = {2000},
}