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Realisierung eines gesamtsystemorientierten Steuerungskonzepts

 
: Surdilovic, D.; Timm, J.; Duelen, G.; Münch, H.

Pritschow, G.:
Maschinennahe Steuerungstechnik in der Fertigung
München: Hanser, 1992 (Fortschritte der Fertigung auf Werkzeugmaschinen)
ISBN: 3-446-17308-0
pp.201-228 : Ill.
German
Book Article
Fraunhofer IPK ()
advanced robot control; hierarchical robot architecture; modular control system; NASREM control architecture; sensor-based robot control

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.

: http://publica.fraunhofer.de/documents/PX-31100.html