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An advanced robot control system for manufacturing processes

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

CIRP Annals. Manufacturing Technology 40 (1991), No.1
ISSN: 0007-8506
English
Journal Article
Fraunhofer IPK ()
contact task; control system; force control; hybrid position; reference model; robotic; robotics

Abstract
Presented in this paper is an advanced robot control system which is used as a research and test environment. Its hierarchical and highly modularized structure, based on a new standard reference model proposed for telerobot control system architectures, allows customized development and implementation of different complex advanced control concepts and algorithms, including fusion of multisensor data. An overall system-oriented approach for sensor-driven manufacturing processes with industrial robots was developed and tested. A contact task was used to demonstrate the system performance.

: http://publica.fraunhofer.de/documents/PX-3348.html