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  4. Context-Sensitive Online Programming for a Robotic Manipulator Arm
 
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1998
Conference Paper
Title

Context-Sensitive Online Programming for a Robotic Manipulator Arm

Abstract
The increasing intelligence of sensor guided industrial robots enable them to overtake more and more applicational tasks. Despite that, there always will be left a certain spectrum of handling tasks, that still have to be performed by a human operator controlling a manipulating arm - due to complexity and safety reasons. Unfortunately manual positioning of manipulators is generally a permanent source for operational faults, accidents and high costs. To overcome the given problem a hybrid control system architecture is proposed that allows: manual arm control, program execution and the smooth switch among both operational modes at any time. As key component a Context-Sensitive Online Program Generator is specified, developed and implemented. The validity of the chosen approach and its possibilities are proven in a 3D-graphical simulation incorporating all high-level control modules and the operator interface. The applicational requirements for the control system architecture are exempla rily taken from a heavy duty handling task in coal mining.
Author(s)
Westkämper, E.
Schraft, R.D.
Schaeffer, C.
Mainwork
Advanced Robotics: Beyond 2000. Conference papers  
Conference
International Symposium on Robotics 1998  
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • 3D-Simulation

  • Bergbau

  • Coal Mining

  • Context-Sensitive Online Programming

  • Control System Architecture

  • manipulator

  • programmieren

  • Roboter

  • Roboterarm

  • Steuerungssoftware

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