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Ett öppet system för programmering och styrning av robotar

Andersson, Jan (1996) In MSc Theses
Department of Automatic Control
Abstract
Industrial robots are used/configured/programmed by several different types of users/programmers. The control system should preferably expose a uniform view for each programming situation. Such views were defined by the Open Robot Control (ORC) architecture, developed within the department in an earlier project. This project refines and evaluates some robot programming principles. First, earlier prototype implementations are merged together to a more complete system. Secondly, the low-level control is verified for an available ABB IRB-6 robot. Third, the system is improved to allow robot programming languages and interpretors to be exchanged at run-time. It is also possible to introduce new control loops based on external sensors. The goal... (More)
Industrial robots are used/configured/programmed by several different types of users/programmers. The control system should preferably expose a uniform view for each programming situation. Such views were defined by the Open Robot Control (ORC) architecture, developed within the department in an earlier project. This project refines and evaluates some robot programming principles. First, earlier prototype implementations are merged together to a more complete system. Secondly, the low-level control is verified for an available ABB IRB-6 robot. Third, the system is improved to allow robot programming languages and interpretors to be exchanged at run-time. It is also possible to introduce new control loops based on external sensors. The goal is to let the robot perform contour following, programmed in a user friendly way utilizing the developed features. (Less)
Please use this url to cite or link to this publication:
author
Andersson, Jan
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Industrial robots, Robot programming, Robot control, Open systems, Embedded systems
publication/series
MSc Theses
report number
TFRT-5557
ISSN
0280-5316
language
Swedish
id
8848702
date added to LUP
2016-03-24 18:02:57
date last changed
2016-03-24 18:02:57
@misc{8848702,
  abstract     = {Industrial robots are used/configured/programmed by several different types of users/programmers. The control system should preferably expose a uniform view for each programming situation. Such views were defined by the Open Robot Control (ORC) architecture, developed within the department in an earlier project. This project refines and evaluates some robot programming principles. First, earlier prototype implementations are merged together to a more complete system. Secondly, the low-level control is verified for an available ABB IRB-6 robot. Third, the system is improved to allow robot programming languages and interpretors to be exchanged at run-time. It is also possible to introduce new control loops based on external sensors. The goal is to let the robot perform contour following, programmed in a user friendly way utilizing the developed features.},
  author       = {Andersson, Jan},
  issn         = {0280-5316},
  keyword      = {Industrial robots,Robot programming,Robot control,Open systems,Embedded systems},
  language     = {swe},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Ett öppet system för programmering och styrning av robotar},
  year         = {1996},
}