Abstract:
This paper describes the design and implementation of a platform for fast external sensor integration in an industrial robot control system. As an application and motivat...Show MoreMetadata
Abstract:
This paper describes the design and implementation of a platform for fast external sensor integration in an industrial robot control system. As an application and motivating example, the implementation of force controlled grinding and deburring within the AUTOFETT-project (EU Growth Programme) is reported.
Published in: IEEE Robotics & Automation Magazine ( Volume: 12, Issue: 3, September 2005)
Lunds Universitet, Lund, SE
Anders Blomdell has been a research engineer at the Department of Automatic Control, Lund University, Sweden, since 1988. His research interests include man-machine interaction, real-time programming, hardware design, network communication protocols, and computer languages for control engineering.
Anders Blomdell has been a research engineer at the Department of Automatic Control, Lund University, Sweden, since 1988. His research interests include man-machine interaction, real-time programming, hardware design, network communication protocols, and computer languages for control engineering.View more
Lunds Universitet, Lund, SE
Gunnar Bolmsjö received M.Sc. and Ph.D. degrees in engineering from Lund University, Sweden, in 1981 and 1986, respectively. He continued his research at Lund University within the area of applied robotics and industrial automation. The primary application areas have been arc welding and deburring operations, including issues related to sensors and to controlling these applications in an industrial context. He is also inv...Show More
Gunnar Bolmsjö received M.Sc. and Ph.D. degrees in engineering from Lund University, Sweden, in 1981 and 1986, respectively. He continued his research at Lund University within the area of applied robotics and industrial automation. The primary application areas have been arc welding and deburring operations, including issues related to sensors and to controlling these applications in an industrial context. He is also inv...View more
Robotic Unit, ABB Automation Technology
Torgny Brogårdh received the M.Sc. degree in electrical engineering and the Ph.D. degree in instrumentation technology from Lund University in 1971 and 1975, respectively. He became an assistant professor at Lund University in 1976. Between 1982 and 1986 he was an associate professor in instrumentation technology at the Royal Institute of Technology in Stockholm. He is currently a robot motion control specialist at the ro...Show More
Torgny Brogårdh received the M.Sc. degree in electrical engineering and the Ph.D. degree in instrumentation technology from Lund University in 1971 and 1975, respectively. He became an assistant professor at Lund University in 1976. Between 1982 and 1986 he was an associate professor in instrumentation technology at the Royal Institute of Technology in Stockholm. He is currently a robot motion control specialist at the ro...View more
Per Cederberg received an M.Sc. degree in mechanical engineering and a Ph.D. degree in robot technology from Lund University, Sweden, in 1988 and 2004, respectively. His main research interests are in the areas of sensor-guided robots and simulation of robotic off-and online systems, focusing on one-off manufacturing models. He is currently working on interactive satellite TV distribution systems in Los Angeles, Californi...Show More
Per Cederberg received an M.Sc. degree in mechanical engineering and a Ph.D. degree in robot technology from Lund University, Sweden, in 1988 and 2004, respectively. His main research interests are in the areas of sensor-guided robots and simulation of robotic off-and online systems, focusing on one-off manufacturing models. He is currently working on interactive satellite TV distribution systems in Los Angeles, Californi...View more
Robotic Unit, ABB Automation Technology
Mats Isaksson received the M.Sc. degree from Lund University in 1997. He is currently a robot motion control specialist at the robotic unit of ABB Automation Technology.
Mats Isaksson received the M.Sc. degree from Lund University in 1997. He is currently a robot motion control specialist at the robotic unit of ABB Automation Technology.View more
Rolf Johansson, M.D., Ph.D., is a professor of control science at Lund University. In his scientific work, he has been involved in research in adaptive system theory, mathematical modeling, system identification, robotics, and signal processing. Since 1987, he has also had side appointments as a graduate advisor at the Faculty of Medicine, Lund University Hospital. johansson was awarded the 1995 biomedical engineering pri...Show More
Rolf Johansson, M.D., Ph.D., is a professor of control science at Lund University. In his scientific work, he has been involved in research in adaptive system theory, mathematical modeling, system identification, robotics, and signal processing. Since 1987, he has also had side appointments as a graduate advisor at the Faculty of Medicine, Lund University Hospital. johansson was awarded the 1995 biomedical engineering pri...View more
Mathias Haage received the M.Sc. and Techn. Lic. degrees in computer science from Lund University, Sweden, in 2000 and 2005, respectively. His main research interests are in the areas of sensor-guided robots and manufacturing, focusing on process-oriented robot programming methods. He is currently pursuing the Ph.D. degree in computer science at Lund University.
Mathias Haage received the M.Sc. and Techn. Lic. degrees in computer science from Lund University, Sweden, in 2000 and 2005, respectively. His main research interests are in the areas of sensor-guided robots and manufacturing, focusing on process-oriented robot programming methods. He is currently pursuing the Ph.D. degree in computer science at Lund University.View more
Klas Nilsson received the M.Sc. degree in mechanical engineering from the Lund Institute of Technology, Sweden, and the Ph.D. degree in automatic control from Lund University, Sweden, in 1982 and 1996, respectively. Between 1982 and 1988 he worked at ABB Robotics Products in Västerås, Sweden, where he developed motion control software and algorithms. He is currently an assistant professor at the Department of Computer Sci...Show More
Klas Nilsson received the M.Sc. degree in mechanical engineering from the Lund Institute of Technology, Sweden, and the Ph.D. degree in automatic control from Lund University, Sweden, in 1982 and 1996, respectively. Between 1982 and 1988 he worked at ABB Robotics Products in Västerås, Sweden, where he developed motion control software and algorithms. He is currently an assistant professor at the Department of Computer Sci...View more
Magnus Olsson received the M.Sc. degree in mechanical engineering and the Techn. Lic. and Ph.D. degrees in robot technology from Lund University, Sweden, in 1992, 1996, and 2002, respectively. His main research interests are in the areas of computer-aided robotics and manufacturing, focusing on off-line programming and simulation of robots and their application processes. He is currently a research associate at the mechan...Show More
Magnus Olsson received the M.Sc. degree in mechanical engineering and the Techn. Lic. and Ph.D. degrees in robot technology from Lund University, Sweden, in 1992, 1996, and 2002, respectively. His main research interests are in the areas of computer-aided robotics and manufacturing, focusing on off-line programming and simulation of robots and their application processes. He is currently a research associate at the mechan...View more
Tomas Olsson received the M.Sc. degree in engineering physics and the Techn. Lic degree in automatic control from Lund University, Sweden, in 2001 and 2004, respectively. His main research interests are multisensor-based robot control, especially vision-based control and robotic force control. He is currently pursuing a Ph.D. degree in automatic control at Lund University.
Tomas Olsson received the M.Sc. degree in engineering physics and the Techn. Lic degree in automatic control from Lund University, Sweden, in 2001 and 2004, respectively. His main research interests are multisensor-based robot control, especially vision-based control and robotic force control. He is currently pursuing a Ph.D. degree in automatic control at Lund University.View more
Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden
Anders Robertsson received the M.Sc. degree in electrical engineering and the Ph.D. degree in automatic control from the Lund Institute of Technology, Sweden, in 1992 and 1999, respectively. He is currently a research associate at the Department of Automatic Control, Lund University. His research interests are in nonlinear control, real-time systems, and robotics, particularly the output feedback control problem and force...Show More
Anders Robertsson received the M.Sc. degree in electrical engineering and the Ph.D. degree in automatic control from the Lund Institute of Technology, Sweden, in 1992 and 1999, respectively. He is currently a research associate at the Department of Automatic Control, Lund University. His research interests are in nonlinear control, real-time systems, and robotics, particularly the output feedback control problem and force...View more
ABB Corporate Research Center, USA
Jianjun Wang received his M.S. and Ph.D. degrees in mechanical engineering from Pennsylvania State University in 1999 and 2001, respectively. He is currently working for ABB Corporate Research Center in the United States as a robotics research scientist. His main research areas include sensor-based robot control, especially force control and visual servoing, robotized manufacturing process modeling, and advanced programmi...Show More
Jianjun Wang received his M.S. and Ph.D. degrees in mechanical engineering from Pennsylvania State University in 1999 and 2001, respectively. He is currently working for ABB Corporate Research Center in the United States as a robotics research scientist. His main research areas include sensor-based robot control, especially force control and visual servoing, robotized manufacturing process modeling, and advanced programmi...View more
Contents Lunds Universitet, Lund, SE
Anders Blomdell has been a research engineer at the Department of Automatic Control, Lund University, Sweden, since 1988. His research interests include man-machine interaction, real-time programming, hardware design, network communication protocols, and computer languages for control engineering.
Anders Blomdell has been a research engineer at the Department of Automatic Control, Lund University, Sweden, since 1988. His research interests include man-machine interaction, real-time programming, hardware design, network communication protocols, and computer languages for control engineering.View more
Lunds Universitet, Lund, SE
Gunnar Bolmsjö received M.Sc. and Ph.D. degrees in engineering from Lund University, Sweden, in 1981 and 1986, respectively. He continued his research at Lund University within the area of applied robotics and industrial automation. The primary application areas have been arc welding and deburring operations, including issues related to sensors and to controlling these applications in an industrial context. He is also involved in developing concepts for service robotics, specifically within the area of healthcare and physically disabled persons. He currently holds a professorship in robotics at Lund University.
Gunnar Bolmsjö received M.Sc. and Ph.D. degrees in engineering from Lund University, Sweden, in 1981 and 1986, respectively. He continued his research at Lund University within the area of applied robotics and industrial automation. The primary application areas have been arc welding and deburring operations, including issues related to sensors and to controlling these applications in an industrial context. He is also involved in developing concepts for service robotics, specifically within the area of healthcare and physically disabled persons. He currently holds a professorship in robotics at Lund University.View more
Robotic Unit, ABB Automation Technology
Torgny Brogårdh received the M.Sc. degree in electrical engineering and the Ph.D. degree in instrumentation technology from Lund University in 1971 and 1975, respectively. He became an assistant professor at Lund University in 1976. Between 1982 and 1986 he was an associate professor in instrumentation technology at the Royal Institute of Technology in Stockholm. He is currently a robot motion control specialist at the robotic unit of ABB Automation Technology. He has been granted more than 60 patents, and in 1998, he received the Swedish Royal Academy of Engineering gold medal for his contributions to the robotics development at ABB.
Torgny Brogårdh received the M.Sc. degree in electrical engineering and the Ph.D. degree in instrumentation technology from Lund University in 1971 and 1975, respectively. He became an assistant professor at Lund University in 1976. Between 1982 and 1986 he was an associate professor in instrumentation technology at the Royal Institute of Technology in Stockholm. He is currently a robot motion control specialist at the robotic unit of ABB Automation Technology. He has been granted more than 60 patents, and in 1998, he received the Swedish Royal Academy of Engineering gold medal for his contributions to the robotics development at ABB.View more
Per Cederberg received an M.Sc. degree in mechanical engineering and a Ph.D. degree in robot technology from Lund University, Sweden, in 1988 and 2004, respectively. His main research interests are in the areas of sensor-guided robots and simulation of robotic off-and online systems, focusing on one-off manufacturing models. He is currently working on interactive satellite TV distribution systems in Los Angeles, California.
Per Cederberg received an M.Sc. degree in mechanical engineering and a Ph.D. degree in robot technology from Lund University, Sweden, in 1988 and 2004, respectively. His main research interests are in the areas of sensor-guided robots and simulation of robotic off-and online systems, focusing on one-off manufacturing models. He is currently working on interactive satellite TV distribution systems in Los Angeles, California.View more
Robotic Unit, ABB Automation Technology
Mats Isaksson received the M.Sc. degree from Lund University in 1997. He is currently a robot motion control specialist at the robotic unit of ABB Automation Technology.
Mats Isaksson received the M.Sc. degree from Lund University in 1997. He is currently a robot motion control specialist at the robotic unit of ABB Automation Technology.View more
Rolf Johansson, M.D., Ph.D., is a professor of control science at Lund University. In his scientific work, he has been involved in research in adaptive system theory, mathematical modeling, system identification, robotics, and signal processing. Since 1987, he has also had side appointments as a graduate advisor at the Faculty of Medicine, Lund University Hospital. johansson was awarded the 1995 biomedical engineering prize (the Ebeling Prize) of the Swedish Society of Medicine for distinguished contribution to the study of human balance through application and development of system analysis and robotics. In 1993, he published the book System Modeling and Identification (Prentice-Hall).
Rolf Johansson, M.D., Ph.D., is a professor of control science at Lund University. In his scientific work, he has been involved in research in adaptive system theory, mathematical modeling, system identification, robotics, and signal processing. Since 1987, he has also had side appointments as a graduate advisor at the Faculty of Medicine, Lund University Hospital. johansson was awarded the 1995 biomedical engineering prize (the Ebeling Prize) of the Swedish Society of Medicine for distinguished contribution to the study of human balance through application and development of system analysis and robotics. In 1993, he published the book System Modeling and Identification (Prentice-Hall).View more
Mathias Haage received the M.Sc. and Techn. Lic. degrees in computer science from Lund University, Sweden, in 2000 and 2005, respectively. His main research interests are in the areas of sensor-guided robots and manufacturing, focusing on process-oriented robot programming methods. He is currently pursuing the Ph.D. degree in computer science at Lund University.
Mathias Haage received the M.Sc. and Techn. Lic. degrees in computer science from Lund University, Sweden, in 2000 and 2005, respectively. His main research interests are in the areas of sensor-guided robots and manufacturing, focusing on process-oriented robot programming methods. He is currently pursuing the Ph.D. degree in computer science at Lund University.View more
Klas Nilsson received the M.Sc. degree in mechanical engineering from the Lund Institute of Technology, Sweden, and the Ph.D. degree in automatic control from Lund University, Sweden, in 1982 and 1996, respectively. Between 1982 and 1988 he worked at ABB Robotics Products in Västerås, Sweden, where he developed motion control software and algorithms. He is currently an assistant professor at the Department of Computer Science. Within both teaching and research, his main interests are software techniques for real-time systems and factory automation.
Klas Nilsson received the M.Sc. degree in mechanical engineering from the Lund Institute of Technology, Sweden, and the Ph.D. degree in automatic control from Lund University, Sweden, in 1982 and 1996, respectively. Between 1982 and 1988 he worked at ABB Robotics Products in Västerås, Sweden, where he developed motion control software and algorithms. He is currently an assistant professor at the Department of Computer Science. Within both teaching and research, his main interests are software techniques for real-time systems and factory automation.View more
Magnus Olsson received the M.Sc. degree in mechanical engineering and the Techn. Lic. and Ph.D. degrees in robot technology from Lund University, Sweden, in 1992, 1996, and 2002, respectively. His main research interests are in the areas of computer-aided robotics and manufacturing, focusing on off-line programming and simulation of robots and their application processes. He is currently a research associate at the mechanical engineering department of Lund University.
Magnus Olsson received the M.Sc. degree in mechanical engineering and the Techn. Lic. and Ph.D. degrees in robot technology from Lund University, Sweden, in 1992, 1996, and 2002, respectively. His main research interests are in the areas of computer-aided robotics and manufacturing, focusing on off-line programming and simulation of robots and their application processes. He is currently a research associate at the mechanical engineering department of Lund University.View more
Tomas Olsson received the M.Sc. degree in engineering physics and the Techn. Lic degree in automatic control from Lund University, Sweden, in 2001 and 2004, respectively. His main research interests are multisensor-based robot control, especially vision-based control and robotic force control. He is currently pursuing a Ph.D. degree in automatic control at Lund University.
Tomas Olsson received the M.Sc. degree in engineering physics and the Techn. Lic degree in automatic control from Lund University, Sweden, in 2001 and 2004, respectively. His main research interests are multisensor-based robot control, especially vision-based control and robotic force control. He is currently pursuing a Ph.D. degree in automatic control at Lund University.View more
Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden
Anders Robertsson received the M.Sc. degree in electrical engineering and the Ph.D. degree in automatic control from the Lund Institute of Technology, Sweden, in 1992 and 1999, respectively. He is currently a research associate at the Department of Automatic Control, Lund University. His research interests are in nonlinear control, real-time systems, and robotics, particularly the output feedback control problem and force feedback control for robot manipulators.
Anders Robertsson received the M.Sc. degree in electrical engineering and the Ph.D. degree in automatic control from the Lund Institute of Technology, Sweden, in 1992 and 1999, respectively. He is currently a research associate at the Department of Automatic Control, Lund University. His research interests are in nonlinear control, real-time systems, and robotics, particularly the output feedback control problem and force feedback control for robot manipulators.View more
ABB Corporate Research Center, USA
Jianjun Wang received his M.S. and Ph.D. degrees in mechanical engineering from Pennsylvania State University in 1999 and 2001, respectively. He is currently working for ABB Corporate Research Center in the United States as a robotics research scientist. His main research areas include sensor-based robot control, especially force control and visual servoing, robotized manufacturing process modeling, and advanced programming methods for industrial robots.
Jianjun Wang received his M.S. and Ph.D. degrees in mechanical engineering from Pennsylvania State University in 1999 and 2001, respectively. He is currently working for ABB Corporate Research Center in the United States as a robotics research scientist. His main research areas include sensor-based robot control, especially force control and visual servoing, robotized manufacturing process modeling, and advanced programming methods for industrial robots.View more
