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Research on Experimental Industrial Robotics
Purpose of Research
Robot control systems and other manufacturing equipment are traditionally closed. This circumstance has hampered system integration of manipulators, sensors and other equipment and such system integration has often been made at an unsuitably high hierarchical level. The purpose of the present project is to show how to organize open robot control systems and to verify these ideas by means of experimental verification.
- To develop control methods for adaptive path tracking;
- To develop methods for object identification, object localization and detection of obstacles;
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To develop programming and control of manufacturing processes (arc welding)
for industrial robots by means of integration of process models for motion control,
welding processes and sensors and their application in real-time control
and reactive planning.
Industrial Relevance
The background of control system structures is purely industrial with many contacts with application engineers, the good ideas of whom have not been possible to implement using currently available control system technology. Our application project will provide industry with improved task-level technology for robotic application in arc welding in small volume production using task-level specifications of variables related to quality and productivity.
A force sensor mounted
on an industrial robot
in our laboratory.
Industrial Cooperation
Our industrial partners are ABB Robotics and the Karlskrona Shipyard. The motivation is purely industrial and one of the participants, Klas Nilsson, has been active for six years in development of robot control systems within ABB Robotics at Västerås. We continue our close cooperation with colleagues at ABB Robotics. Dr. Ola Dahl who participated in this research project during its first year now works at Kockums Submarine Systems AB and we continue cooperation. Krister Brink who worked with task level programming of arc-welding, and also with the integration of the IGRIP system with the robots, is now working with autonomous robotics at Cresita Engineering.
Se also Archival Information
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Last update: Friday, 04-Jun-2004 15:15:44 CEST