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Interactive On-Line Evaluation of Robot Motion Control

Valera, Angel ; Robertsson, Anders LU ; Nilsson, Klas LU and Johansson, Rolf LU orcid (1999) 1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99) 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
; ; and
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
host publication
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)
conference dates
0001-01-02
external identifiers
  • scopus:0033334723
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
7d084e2a-37a0-4ea7-876f-7795316e97dd (old id 961719)
date added to LUP
2016-04-04 11:42:06
date last changed
2022-01-29 22:20:16
@inproceedings{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}},
  booktitle    = {{Symp. Computer Aided Control Systems Design (CACSD)}},
  keywords     = {{robot control; embedded software; rapid prototyping; nonlinear control; robot manipulators; passive controllers}},
  language     = {{eng}},
  pages        = {{1039--1044}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Interactive On-Line Evaluation of Robot Motion Control}},
  volume       = {{2}},
  year         = {{1999}},
}