Open architecture systems for the position-force real time robots control with compliance function

This paper shows a new technical solution called OPEN ARCHITECTURE for the hybrid positioning and force robot control on six degrees-of-freedom (DOF) in a PLC multi-microprocessor system interfaced with PC in order to obtain high performances. Through the development of this method the system becomes open to new command and control functions: compliance and comprehensive actions. Mainly this architecture allows for real-time control having two information sources: dynamic force and static position measurements resulting from interaction between the work-piece and the environment. The implementation of the OAH open architecture Control System for robots with compliant wrist allows for the control of the hibrid position and force in Cartezian coordonates through real time processing of the Jacobine matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobine inverted matrix for control in closed loop. The obtained results prove a significant reduction of the execution time for the real time control of robot's position in Cartesian coordinates.

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