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Sensor integration in task‐level programming and industrial robotic task execution control

Rolf Johansson (Lund Institute of Technology, Lund University, Sweden)
Anders Robertsson (Lund Institute of Technology, Lund University, Sweden)
Klas Nilsson (Lund Institute of Technology, Lund University, Sweden)
Torgny Brogårdh (ABB Automation Technologies – Robotics and Manufacturing, Västerås, Sweden)
Per Cederberg (Lund Institute of Technology, Lund University, Sweden)
Magnus Olsson (Lund Institute of Technology, Lund University, Sweden)
Tomas Olsson (Lund Institute of Technology, Lund University, Sweden)
Gunnar Bolmsjö (Lund Institute of Technology, Lund University, Sweden)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 June 2004

832

Abstract

Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task‐level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.

Keywords

Citation

Johansson, R., Robertsson, A., Nilsson, K., Brogårdh, T., Cederberg, P., Olsson, M., Olsson, T. and Bolmsjö, G. (2004), "Sensor integration in task‐level programming and industrial robotic task execution control", Industrial Robot, Vol. 31 No. 3, pp. 284-296. https://doi.org/10.1108/01439910410532369

Publisher

:

Emerald Group Publishing Limited

Copyright © 2004, Emerald Group Publishing Limited

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