Sensor integrated control for manipulators

Shortcomings of commercial robot controllers are discussed from the perspective of several advanced robotic applications, in which there are specific needs for dynamic manipulator motion control based on sensor inputs. Experiences with systems using sensor-based control of process parameters, manipulator motions, and manipulator paths are described. Particular attention is given to the adaptive control of lightweight robot arms. Requirements for sensor integrated control are presented on the basis of these experiences, and features and capabilities that should be included in manipulator controllers for future applications are discussed. Some of the unexpected problems that come about due to sensor integration are examined