The role of model based control in robotics

摘要

The use of model-based control of industrial robots is discussed. Computer models of the robots and their operating environments are complemented with environmental sensing. This allows automatic programming of robot trajectories, hybrid force/position control, and computer assistance during manual operation. In addition, sensors detect error situations which may require operator attention prior to continued system operation. Computer models are also used to verify the validity of sensor data before the robotic system executes operations based upon those data.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>