Sensor integrated control for manipulators

Abstract

ABS TRACTAs robotic systems are applied to more and more complex tasks there is an increasing need for sensor based control of the manipulator motions and of the process being performed.Recently completed systems for polishing aircraft canopies and for depainting aircraft provide good illustrations of the types of control structures and strategies that are required for these adaptive systems. This paper describes experiences with actual systems using sensor based control of process parameters, manipulator motions, and manipulator paths. The paper presents requirements for sensor integrated control based on these experiences and discusses features and capabilities that should be included in manipulator controllers for future applications.