An open architecture for position and force control of robotic manipulators

Author

Baptista, Luis ; Martins, Jorge ; Cardeira, Carlos ; da Costa, José Sá

Author_Institution

Inst. Superior Tecnico, Tech. Univ. Lisbon, Portugal

Volume

2

fYear

1998

fDate

1998

Firstpage

471

Abstract

In this paper a low cost open architecture PC-based axis controller for robotic applications is described. The system is based on an available low price commercial PC interface board and the controller software runs totally on a Pentium 100 MHz computer in order to control a robotic axis. The driving kernel of software for supervisory, management and control was developed in a high level language (C++) and enables the analysis of several position and force/position control strategies for research and practical applications. The experimental results for the given position and force trajectories reveal promising position and force tracking results for the experienced control algorithms

Keywords

C++ language; computerised control; force control; industrial manipulators; position control; C++ language; PC interface board; PC-based axis controller; control strategies; controller software; driving kernel; experienced control algorithms; force control; high level language; open architecture; position control; robotic manipulators; Application software; Computer architecture; Computer interfaces; Control systems; Costs; Force control; High level languages; Kernel; Robot control; Software development management;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Circuits and Systems, 1998 IEEE International Conference on

Conference_Location

Lisboa

Print_ISBN

0-7803-5008-1

Type

conf

DOI

10.1109/ICECS.1998.814923

Filename

814923