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Methods and Tools to Design and Test Robot Control Systems

Kurze, Matthias and Weiß, Martin and Otter, Martin (2006) Methods and Tools to Design and Test Robot Control Systems. In: Proceedings of ISR 2006. ISR 2006 37th International Symposium on Robotics, 2006-05-15 - 2006-05-17, München.

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Abstract

It is still a major goal in industrial robotics to increase robot speed and enhance the accuracy of the robots by improving the control system. Short product cycle time require a hard- and software environment for state-of-the-art model-based control algorithms where the main effort can be dedicated to high-level design tasks, not to coding details, and results can easily and reliably be transferred from the laboratory test setup to serial products. In this work methods and tools are presented for fast developement, optimization and testing of new feedforward and feedback control laws based on component oriented robot device models. A hardware-in-the-loop environment for optimizing the parameters of new algorithms and validating the resulting perfomance has been established that uses only slightly modified control cabinet and software from series production.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Methods and Tools to Design and Test Robot Control Systems
Authors:
AuthorsInstitution or Email of Authors
Kurze, MatthiasUNSPECIFIED
Weiß, MartinKuka Roboter GmbH
Otter, MartinUNSPECIFIED
Date:2006
Journal or Publication Title:Proceedings of ISR 2006
Status:Published
Keywords:Component based design, robot control, hardware-in-the-loop optimization, Modelica, MOPS
Event Title:ISR 2006 37th International Symposium on Robotics
Event Location:München
Event Type:international Conference
Event Dates:2006-05-15 - 2006-05-17
Organizer:VDI Wissensforum
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben Infrastruktur und Unterstützung für Raumflugbetrieb (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:23 Nov 2006
Last Modified:12 Dec 2013 20:22

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