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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wurll, C. Henrich, D. Worn, H. Schloen, J. Damm, M. Meier, W. |
| Copyright Year | 1998 |
| Description | Author affiliation: Inst. for Process Control & Robotics, Karlsruhe Univ., Germany (Wurll, C.) |
| Abstract | A practical distributed planning and control system for industrial robots is presented. The hierarchical concept consists of three independent levels. Each level is modularly implemented and supplies an application interface (API) to the next higher level. At the top level, we propose an automatic motion planner. The motion planner is based on a best-first search algorithm and needs no essential off-line computations. At the middle level, we propose a PC-based robot control architecture, which can easily be adapted to any industrial kinematics and application. Based on a client/server principle, the control unit establishes an open user interface for including application specific programs. At the bottom level, we propose a flexible and modular concept for the integration of the distributed motion control units based on the CAN bus. The concept allows an online adaptation of the control parameters according to the robot's configuration. This implies high accuracy for the path execution and improves the overall system performance. |
| Starting Page | 487 |
| Ending Page | 492 |
| File Size | 899472 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780344847 |
| DOI | 10.1109/AMC.1998.743585 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1998-06-29 |
| Publisher Place | Portugal |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Distributed control Control systems Electrical equipment industry Industrial control Service robots Automatic control Robotics and automation Motion planning Robot control Computer architecture |
| Content Type | Text |
| Resource Type | Article |
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