Extending an industrial robot controller: implementation and applications of a fast open sensor interface

This paper describes the design and implementation of a platform for fast external sensor integration in an industrial robot control system. As an application and motivating example, the implementation of force controlled grinding and deburring within the AUTOFETT-project (EU Growth Programme) is re...

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Bibliographic Details
Published in:IEEE robotics & automation magazine 2005-09, Vol.12 (3), p.85-94
Main Authors: Blomdell, A., Bolmsjo, G., Brogardh, T., Cederberg, P., Isaksson, M., Johansson, R., Haage, M., Nilsson, K., Olsson, M., Olsson, T., Robertsson, A., Jianjun Wang
Format: Article
Language:English
Subjects:
Applied sciences
Automation
Computer and Information Science
Computer Science
Computer science
control theory
systems
Control Engineering
Control systems
Control theory. Systems
Data- och informationsvetenskap (Datateknik)
Datavetenskap (datalogi)
Deburring
Design engineering
Electrical Engineering, Electronic Engineering, Information Engineering
Electrical equipment industry
Elektroteknik och elektronik
Engineering and Technology
Exact sciences and technology
flexible motion control
Force control
Force sensors
Industrial control
Industrial robots
Manufacturing engineering
Natural Sciences
Naturvetenskap
Open robot control
Platforms
Reglerteknik
Robot control
Robot sensing systems
Robotics
sensor interfaces
Sensor phenomena and characterization
Sensor systems
sensorbased control
Sensors
Service robots
Teknik
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Description
Summary:This paper describes the design and implementation of a platform for fast external sensor integration in an industrial robot control system. As an application and motivating example, the implementation of force controlled grinding and deburring within the AUTOFETT-project (EU Growth Programme) is reported.
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2005.1511872