Extending an Industrial Robot Controller: Implementation and Applications of a Fast Open Sensor Interface

摘要

Many promising robotics research results were obtained during the late 1970s and early 1980s, Some examples include Cartesian force control and advanced motion planning, Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications, To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment in products required affordable computing power, efficient engineering tools, customer needs for productivity/performance, and improved end-user competence in the utilization of performance features.