TY - GEN
T1 - Robot controller architecture for user friendly application deployment
AU - Richter, Christian
AU - Lueth, Tim C.
PY - 2010
Y1 - 2010
N2 - In this work an architecture for robotic control is proposed which divides the robot controller system into a manipulator specific and an application specific part. All manipulator specific controller functionality - especially power supply, direct/inverse kinematics, and safety features - remain on the robot (motion) controller, all application specific peripheries and software are bundled into an application module. Such applications can be developed independently of the concrete manipulator they are to be used. The end-user is able to install and use the application by attaching the application module to his (compatible) robot controller, without the need to install any additional hard- or software in the robot controller and without expertise in robot programming. This allows a more versatile deployment of robots, e.g. for small businesses. Validation of the proposed architecture is provided by means of a force control application, turning a standard six degree of freedom industrial manipulator into a spatial path specification device for mechanism design.
AB - In this work an architecture for robotic control is proposed which divides the robot controller system into a manipulator specific and an application specific part. All manipulator specific controller functionality - especially power supply, direct/inverse kinematics, and safety features - remain on the robot (motion) controller, all application specific peripheries and software are bundled into an application module. Such applications can be developed independently of the concrete manipulator they are to be used. The end-user is able to install and use the application by attaching the application module to his (compatible) robot controller, without the need to install any additional hard- or software in the robot controller and without expertise in robot programming. This allows a more versatile deployment of robots, e.g. for small businesses. Validation of the proposed architecture is provided by means of a force control application, turning a standard six degree of freedom industrial manipulator into a spatial path specification device for mechanism design.
UR - http://www.scopus.com/inward/record.url?scp=79952969408&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723374
DO - 10.1109/ROBIO.2010.5723374
M3 - Conference contribution
AN - SCOPUS:79952969408
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 484
EP - 488
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -