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 IFAC Proceedings Volumes
33(27).
p.171-176
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/963280fb-5425-4880-97ef-1960518a1c95
- author
- Robertsson, Anders
LU
; Valera, Angel
; Nilsson, Klas
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2000
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Robot Control, Force Control, Embedded systems, Rapid prototyping, Nonlinear control
- in
- IFAC Proceedings Volumes
- volume
- 33
- issue
- 27
- pages
- 6 pages
- publisher
- Elsevier
- conference name
- 6th Int. IFAC Symposium on Robot Control (SYROCO 2000)
- conference location
- Vienna, Austria
- conference dates
- 2000-09-21
- DOI
- 10.1016/S1474-6670(17)37924-7
- project
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
- RobotLab LTH
- Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.
- language
- English
- LU publication?
- yes
- id
- 963280fb-5425-4880-97ef-1960518a1c95
- date added to LUP
- 2022-06-21 15:18:05
- date last changed
- 2022-09-14 02:37:53
@article{963280fb-5425-4880-97ef-1960518a1c95,
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}},
keywords = {{Robot Control; Force Control; Embedded systems; Rapid prototyping; Nonlinear control}},
language = {{eng}},
number = {{27}},
pages = {{171--176}},
publisher = {{Elsevier}},
series = {{IFAC Proceedings Volumes}},
title = {{On-line Reconfiguration of Real-Time Robot Motion and Force Control}},
url = {{http://dx.doi.org/10.1016/S1474-6670(17)37924-7}},
doi = {{10.1016/S1474-6670(17)37924-7}},
volume = {{33}},
year = {{2000}},
}