Implementation of operational space control algorithms in an industrial robot controller

Abstract This paper presents a prototype robot controller that allows easy implementation of model based and sensor based control concepts. The prototype is built around the state of the art industrial COMAU C3G controller and it accommodates the additional control functions by integrating additional hardware and software modules in the standard controller architecture. This seems a promising approach for introduction of sensor based control in industrial robotics. The prototype proves to be interesting for robotics research also, since it combines flexibility with reliability of standard industrial components.