MULTIPROCESSOR ROBOT CONTROLLER - An Experimental Robot Controller for Force-Torque Control Tasks

István Oláh, Gábor Tevesz

Abstract

There is ongoing research and development in the field of hybrid position and force control of the assembly robots at the Department of Automation and Applied Informatics and the Department of Control Engineering and Information Technology, Budapest University of Technology and Economics. As result, an Experimental Robot Controller was built for the special needs of the project. Both the hardware and the software system of the controller are under continuous development. The most recent achievement is, a built in six-component force-torque sensor. The development of the software system is currently dealing with the extension of the programming environment with force-torque control possibilities. There are numerous industrial applications for force and torque control (i.e. screw driver, welder), but a flexible equipment can provide much more than just the possibility of solving a single task. This paper presents an overview of the robot controller hardware, separately detailing the force-torque sensor interface. The second part of this paper overviews the software system of the controller and the possibilities of its extensions for force control tasks.

References

  1. Tevesz, G., Bézi, I. And Oláh, I., 1997. A Low-cost Robot Controller and its Software Problems. In Periodica Polytechnica Ser. El. Eng. Vol. 41, No. 3., pp. 239- 249
  2. Hankó, T., 2004. Hatkomponensu ero-nyomatékérzékelo illesztése PCI buszra. (A PCI bus interface for six component force torque sensor.) Diploma work, in Hungarian, Department of Automation and Applied Informatics, Budapest University of Technology and Economics
  3. Oláh, I., Tevesz, G., 2002. Software Problems of an Experimental Robot Controller Based on QNX RealTime Operating System. In Periodica Polytechnica Ser. El. Eng. Vol. 46, No. 3-4., pp. 151-161
  4. Oláh, I., Tevesz, G., 2005. An Experimental Robot Controller for Force-Torque Control Tasks. The International Journal of INGENIUM 2005 (4) - Engineering Achievements Across the Global Village, edited by Janusz SZPYTKO, Cracow-GlasgowRadom, pp. 477-484
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Paper Citation


in Harvard Style

Oláh I. and Tevesz G. (2006). MULTIPROCESSOR ROBOT CONTROLLER - An Experimental Robot Controller for Force-Torque Control Tasks . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 540-543. DOI: 10.5220/0001217405400543


in Bibtex Style

@conference{icinco06,
author={István Oláh and Gábor Tevesz},
title={MULTIPROCESSOR ROBOT CONTROLLER - An Experimental Robot Controller for Force-Torque Control Tasks},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={540-543},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001217405400543},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MULTIPROCESSOR ROBOT CONTROLLER - An Experimental Robot Controller for Force-Torque Control Tasks
SN - 978-972-8865-60-3
AU - Oláh I.
AU - Tevesz G.
PY - 2006
SP - 540
EP - 543
DO - 10.5220/0001217405400543