Control System for an Assembly Robot.

Industrial controls for industrial robots today have reached a generally high level. Besides simple point controls now also trajectory controls are offered with high comfort of operator interaction, which considerably extend the performance and possible uses of programmable manipulators. Furthermore, however, a number of improvements are desirable. In this paper the basic structure of a robot control scheme is described. Then the laboratory development of a control is presented, which was constructed at the Chair for Automation of Manufacturing of the University of Erlangen as a test system for feedforward and feedback control algorithms. It exhibits features, which partially exceed industrial standard and may facilitate actual use of robots.