Hybrid modeling and simulation for the design of an advanced industrial robot controller

Author

Ferrarini, Luca ; Ferretti, Gianni ; Maffezzoni, Claudio ; Magnani, Gian Antonio

Author_Institution

Dipartimento di Elettronica e Inf., Politecnico di Milano, Italy

Volume

4

Issue

2

fYear

1997

fDate

6/1/1997 12:00:00 AM

Firstpage

45

Lastpage

51

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

Keywords

control system CAD; discrete event simulation; force control; industrial robots; multiprocessing systems; position control; real-time systems; robot dynamics; advanced industrial robot controller; continuous time dynamics; discrete event modelling; hardware/software architecture; hybrid modeling; hybrid simulation; multiprocessor structure; real-time control strategies; simulation tool; synchronization; task scheduling; Communication system control; Control systems; Force control; Industrial control; Jacobian matrices; Robot control; Robot kinematics; Robotics and automation; Service robots; Software design;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.591645

Filename

591645