Article ID Journal Published Year Pages File Type
414520 Robotics and Computer-Integrated Manufacturing 2011 14 Pages PDF
Abstract

This paper describes a research program to develop a novel reference architecture and design philosophy for an advanced robot controller for a new generation of robots. It is suggested that a new approach to robot controller design is required in order to bring the present generation of industrial robots in line with current and foreseeable technological developments. The paper also describes a prototype controller that has been developed using this design philosophy, and its deployment on an experimental robot. Practical results are presented from a series of investigations undertaken to illustrate the performance of the controller.

Related Topics
Physical Sciences and Engineering Computer Science Artificial Intelligence
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