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A new laser scan matching method based on clustering is advanced. It takes the advantages of both non-iterative matching method and iterative matching method as well as increases the speed and the precision of matching. A method of map building based on laser scans using the matching method above is presented for mobile robots. The map building method matches two consecutive scans by using the feature...
This paper presents on-pendant assembly parameter optimization with an industrial robot with force control. ABB industrial robot and its latest controller IRC5 is used as the host platform of the development; design of experiment (DOE) method is used as an optimization tool; and automatic transmission torque converter assembly is used as a test case. All tasks such as data manipulation, data analysis,...
To organize the robot controllers in an open manner and manage heterogeneous and concurrent accesses to hardware devices is a tough problem. This paper proposes the control middleware architecture to tackle this problem. In this architecture, the control middleware encapsulates all hardware operations and interacts with logical controllers in a client-server manner. All devices are mapped into data...
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