Integrated architecture for industrial robot programming and control

Nilsson, Klas; Johansson, Rolf

doi:10.1016/s0921-8890(99)00056-1

Cited by 66 publications

(27 citation statements)

References 28 publications

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“…Many robotics labs have reported activities in open control systems that fully satisfy the need for the abovementioned aspects of evaluation and implementation [11], [12].…”

Section: Discussionmentioning

confidence: 99%

Extending an industrial robot controller

Blomdell

Bolmsjö

Brogårdh

et al. 2005

IEEE Robot. Automat. Mag.

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Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies.Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications. To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment in products required affordable computing power, efficient engineering tools, customer needs for productivity/performance, and improved end-user competence in the utilization of performance features.However, applications that are considered nonstandard today motivate a variety of research efforts and system development to package results in a usable form. Actually, robots are not useful for many manufacturing tasks today, in particular those found in small and medium enterprises (SMEs). Reasons include complex configuration, nonintuitive (for the shop floor) programming, and difficulties instructing robots to deal with variations in their environment. The latter challenge includes both task definitions and definition of motion control utilizing external sensors. The key word here is flexibility, and flexible motion control is particularly difficult since the user or system integrator needs to influence the core real-time software functions that are critical for the performance and safe operation of the system. We must find techniques that permit real-time motion controllers to be extended for new, demanding application areas.

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“…Many robotics labs have reported activities in open control systems that fully satisfy the need for the abovementioned aspects of evaluation and implementation [11], [12].…”

Section: Discussionmentioning

confidence: 99%

Extending an industrial robot controller

Blomdell

Bolmsjö

Brogårdh

et al. 2005

IEEE Robot. Automat. Mag.

View full text Add to dashboard Cite

show abstract

“…Although the software structure of the experimental setup contains basically two PCs: the master PC and the controller PC, it consists of a hierarchy of components that are divided into four main layers proposed originally by (Nilsson & Johansson, 1999): lowest layer, middle layer, high layer and end-user layer. Each layer contains different types of components, which are classified depending on their functionality (Fig.…”

Section: Layer Architecture and Component Definitionsmentioning

confidence: 99%

Description of an Open Software Robotic Platform for Sensor Fusion Applications

Ortega¹,

García²,

Nieto³

et al. 2010

Advanced Strategies for Robot Manipulators

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“…Introducing more robots for final assembly will require more advanced sensor control, especially with respect to force and vision. In order to cope with the required high productivity level both the force-based and vision-based control need to have easily programmable application-dependent control concepts running with short response time, which means the integration of intelligence close to force control and visual servo loops Nilsson and Johansson (1999). The robot control must also include learning capabilities which make it possible for an operator to intuitively teach the robot how to tackle different assembly problems.…”

Section: Possible Future Directions Of Robot Control Developmentmentioning

confidence: 99%

Robot Control Overview: An Industrial Perspective

Brogårdh¹

2009

MIC

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One key competence for robot manufacturers is robot control, defined as all the technologies needed to control the electromechanical system of an industrial robot. By means of modeling, identification, optimization, and model-based control it is possible to reduce robot cost, increase robot performance, and solve requirements from new automation concepts and new application processes. Model-based control, including kinematics error compensation, optimal servo reference-and feed-forward generation, and servo design, tuning, and scheduling, has meant a breakthrough for the use of robots in industry. Relying on this breakthrough, new automation concepts such as high performance multi robot collaboration and human robot collaboration can be introduced. Robot manufacturers can build robots with more compliant components and mechanical structures without loosing performance and robots can be used also in applications with very high performance requirements, e.g., in assembly, machining, and laser cutting. In the future it is expected that the importance of sensor control will increase, both with respect to sensors in the robot structure to increase the control performance of the robot itself and sensors outside the robot related to the applications and the automation systems. In this connection sensor fusion and learning functionalities will be needed together with the robot control for easy and intuitive installation, programming, and maintenance of industrial robots.

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Integrated architecture for industrial robot programming and control

Cited by 66 publications

References 28 publications

Extending an industrial robot controller

Extending an industrial robot controller

Description of an Open Software Robotic Platform for Sensor Fusion Applications

Robot Control Overview: An Industrial Perspective

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