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1992
Book Article
Titel
Realisierung eines gesamtsystemorientierten Steuerungskonzepts
Abstract
The increasing demands to automation of production systems leads to the application of sensor-based robot control systems. This article describes the realization of a hierarchical organized and modular robot control. The advanced planning and control functions for generation and execution of free-and force-constrained robot motions are explained in detail. Some of these functions are realized on an IPK-internal robot control system whose hardware and software architecture meets the given requirements is described to. The work gives an overview of the main work in the control algorithms design department at IPK.