Interactive On-Line Evaluation of Robot Motion Control

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1 Citation (SciVal)

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.
Original languageEnglish
Title of host publicationSymp. Computer Aided Control Systems Design (CACSD)
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages1039-1044
Number of pages6
Volume2
Publication statusPublished - 1999
Event1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99) - Kohala Coast, Hawaii
Duration: 0001 Jan 2 → …

Publication series

Name
Volume2

Conference

Conference1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99)
Period0001/01/02 → …

Subject classification (UKÄ)

  • Control Engineering
  • Computer Science

Keywords

  • robot control
  • embedded software
  • rapid prototyping
  • nonlinear control
  • robot manipulators
  • passive controllers

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