TY  - JOUR
A1  - Wurll, Christian
A1  - Henrich, Dominik
A1  - Wörn, Heinz
A1  - Schloen, Jan
A1  - Damm, Martin
A1  - Meier, Wolfgang
T1  - A distributed planning and control system for industrial robots
N2  - 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 estab-lishes 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 on-line 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.
KW  - AG-RESY
KW  - PARO
KW  - SKALP
KW  - robot motion planning
KW  - search algorithm
KW  - distributed control system
KW  - client/server-architecture
KW  - PC-based robot control
Y1  - 1998
UR  - https://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1023
UR  - https://nbn-resolving.org/urn:nbn:de:hbz:386-kluedo-9776
ER  -