A distributed planning and control system for industrial robots

  • 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.

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Verfasserangaben:Christian Wurll, Dominik Henrich, Heinz Wörn, Jan Schloen, Martin Damm, Wolfgang Meier
URN (Permalink):urn:nbn:de:hbz:386-kluedo-9776
Dokumentart:Wissenschaftlicher Artikel
Sprache der Veröffentlichung:Englisch
Jahr der Fertigstellung:1998
Jahr der Veröffentlichung:1998
Veröffentlichende Institution:Technische Universität Kaiserslautern
Datum der Publikation (Server):06.04.2000
Freies Schlagwort / Tag:AG-RESY ; PARO ; PC-based robot control; SKALP ; client/server-architecture ; distributed control system ; robot motion planning ; search algorithm
Fachbereiche / Organisatorische Einheiten:Fachbereich Informatik
DDC-Sachgruppen:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Sammlungen:AG RESY
Lizenz (Deutsch):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011

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