Journal ArticleDOI
Hybrid modeling and simulation for the design of an advanced industrial robot controller
TLDR
The interaction between robot position control and force control has been investigated, exploiting the features of a specific simulation tool for the design and evaluation of the real-time control strategies and of the hardware/software architecture.Abstract:
This paper proposes the application of discrete event and hybrid modeling in the architectural design of a new commercial robot controller featuring force control capabilities. A case study is considered and architectural aspects, such as distribution of functions over a multiprocessor structure, communication among processors and sensors and task scheduling and synchronization, are modeled and simulated together with the arm continuous time dynamics. In particular, the interaction between robot position control and force control has been investigated, exploiting the features of a specific simulation tool for the design and evaluation of the real-time control strategies and of the hardware/software architecture.read more
Citations
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Journal ArticleDOI
Object-Oriented Models for Advanced Automation Engineering
TL;DR: How the object-oriented paradigm can be exploited as a valid modelling technique in many engineering fields and in particular in advanced automation engineering is focused on.
Proceedings ArticleDOI
A design methodology for distributed control systems to optimize performance in the presence of time delays
TL;DR: A theoretical framework is presented which allows the effect of time delays on the mechanical performance of the system to be precisely modeled, and these models are used to determine the optimal network architecture for the given control system.
Journal ArticleDOI
A design methodology for distributed control systems to optimize performance in the presence of time delays
TL;DR: A theoretical framework is presented which allows the effect of time delays on the mechanical performance of the system to be precisely modelled, and these models are used to determine the optimal network architecture for the given control system.
Journal ArticleDOI
A structured methodology for the design and implementation of control and supervision systems for robotic applications
TL;DR: A development technique is illustrated, which extends some of the most relevant solutions and methods used to effectively deal with the design of complex control systems and integrates them into a structured methodology with analysis and simulation facilities.
Dissertation
Integrating mapping and navigation
TL;DR: The extensions to estimation theory developed in this thesis provide a powerful new basis for reasoning about events within the filtering process that has a broad applicability to navigation, mapping, and control problems in robotics.
References
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Journal ArticleDOI
Compliant robot motion II. A control approach based on external control loops
J. De Schutter,H. Van Brussel +1 more
TL;DR: In this article, a control approach for the execution of robot tasks in contact with the environment is worked out, where the input to the con troller consists of the task specification described in part I.
Journal ArticleDOI
Toward the implementation of hybrid position/force control in industrial robots
TL;DR: An implicit hybrid control scheme is proposed, designed to fit as much as possible the conventional industrial robot control architecture, based on a task description particularly suited for a direct integration in conventional robot programming tools.
Journal ArticleDOI
On the Stability of Integral Force Control in Case of Contact With Stiff Surfaces
TL;DR: In this article, the robustness properties of explicit force control with respect to contact stiffness are investigated, considering different control laws applied to an industrial robot affected by joint compliance, and a theoretical analysis, performed on the well-known linear fourth-order model of a single joint robot interacting with the environment, shows that integral control ensures increasing stability with increasing contact stiffness.
Journal ArticleDOI
The structured design of an industrial robot controller
TL;DR: In this article, the authors deal with the design of an industrial robot controller featuring sensor-based control capabilities and follow the guidelines of a methodology aimed at structuring the design process, to assure traceability between the requirements and capabilities of the controller and a high degree of operational flexibility.
Journal ArticleDOI
External servicing testbed for automation and robotics
TL;DR: Experimental results relevant to the execution of a reference task for space robotics, namely the replacement of an orbital replacement unit (ORU), are presented.
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