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A distributed planning and control system for industrial robots
Christian Wurll , Martin Damm , Dominik Henrich , Wolfgang Meier , Jan Schloen , Heinz Wörn

Abstract (english)
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 establishes 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.

Publication data

Year: 1998
Publication date: 29. June 1998
Source: The 5th IEEE International Advanced Motion Control Workshop (AMC'98)
Project: SKALP , PARO
Keywords (english): client/server , distributed control system , motion planning , PC-based robot control , search algorithms
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wurll1998a

BibTeX

@MISC{wurll1998a,
  TITLE             = "A distributed planning and control system for industrial robots",
  AUTHOR            = "Wurll, Christian and Damm, Martin and Henrich, Dominik and Meier, Wolfgang and Schloen, Jan and Wörn, Heinz",
  YEAR              = "1998",
  JOURNAL           = "The 5th IEEE International Advanced Motion Control Workshop (AMC'98)",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wurll1998a}",
}

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