Sensor Integration in Task-level Programming and Industrial Robotic Task Execution Control

Rolf Johansson, Anders Robertsson, Klas Nilsson, Torgny Brogårdh, Per Cederberg, Magnus Olsson, Tomas Olsson, Gunnar Bolmsjö

Forskningsoutput: TidskriftsbidragArtikel i vetenskaplig tidskriftPeer review


Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task-level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.
Sidor (från-till)284-296
TidskriftIndustrial Robot
StatusPublished - 2004

Bibliografisk information

The information about affiliations in this record was updated in December 2015.
The record was previously connected to the following departments: Department of Automatic Control (011017000), Computer Science (011014004), Robotics (ceased) (LUR000026), Departments at LTH (011200000)

Ämnesklassifikation (UKÄ)

  • Reglerteknik
  • Datavetenskap (datalogi)


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