A motion control system with event-driven motion-module switching mechanism far robotic manipulators

The new motion control system described in this paper has an event-driven motion-module switching mechanism. This mechanism can modify a reference input in real-time and can, for each event, select a previously prepared motion-module according to sensor information. This motion-compensating mechanism is effective in robot tasks with uncertainties. The highly modular and extendable control system may be useful for various robot tasks such as machining and assembling. This paper describes the concept and implementation of the proposed system and presents some experimental results demonstrating its feasibility