An advanced robot control system for sensor-based motion control

This paper is focused on the two central issues in the advanced robotics systems: functional control architecture and the integration of the multiple sensors into planning and control. A new advanced robotic control system is proposed and presented in the paper. This control system is based on a sophisticated architecture which integrates the autonomous control and sensory systems in a more efficient and coherent way. The main features of this system are: open control architecture, highly modular software structure, powerful computation system, and customized programming and control development environments. The performance of the control system are illustrated on the example of an application-oriented prototype for robotic deburring