Advanced Industrial Robot Control Systems

摘要

The objective of this research is to extend the flexibility a,hd . 'usefulness. of current industrial robots by the integration of robot motion control directly into a. general purpose programming language, the development of force feedback and its integration into the language, the formulation of a high-level task description language RTM, and by the investigation of both off-line collision-free path planning and on-line collision avoidance.