Ett öppet system för programmering och styrning av robotar

Industrial robots are used/configured/programmed by several different types of users/programmers. The control system should preferably expose a uniform view for each programming situation. Such views were defined by the Open Robot Control (ORC) architecture, developed within the department in an earlier project. This project refines and evaluates some robot programming principles. First, earlier prototype implementations are merged together to a more complete system. Secondly, the low-level control is verified for an available ABB IRB-6 robot. Third, the system is improved to allow robot programming languages and interpretors to be exchanged at run-time. It is also possible to introduce new control loops based on external sensors. The goal is to let the robot perform contour following, programmed in a user friendly way utilizing the developed features