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)
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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/961719
- author
- Valera, Angel
; Robertsson, Anders
LU
; Nilsson, Klas
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 1999
- 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
- RobotLab LTH
- 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
- 2023-01-06 00:24:47
@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}},
}