[robotics-worldwide] ICRA 2010 Workshop on Innovative Robot Control Architectures - Call for Participation

Daniel Kubus dku at rob.cs.tu-bs.de
Tue Mar 23 05:56:01 PDT 2010

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*2nd Call for Participation*

ICRA 2010 Workshop on

Innovative Robot Control Architectures for Demanding (Research) 
- How to Modify and Enhance Commercial Controllers


Dear colleagues,

we kindly invite you to participate in our workshop on "Innovative Robot 
Control Architectures for Demanding (Research) Applications - How to 
Modify and Enhance Commercial Controllers" to be held in conjunction 
with ICRA 2010, Anchorage, USA, on Monday, May 3rd, 9:00am - 12:30am.

The complete list of speakers and detailed information on each 
contribution are now available on our workshop website 
http://www.rob.cs.tu-bs.de/icra2010. A tentative schedule will follow soon.

We are looking forward to welcoming you in Anchorage!


Numerous demanding robotics applications and research projects employing 
commercial manipulators require high-rate low-level interfaces to the 
robot hardware. Often the performance of robotics systems and the 
quality of research results could be improved significantly by employing 
an appropriate low-level control interface to the robot hardware instead 
of the original controller. The controllers provided by manufacturers 
often lack high-rate low-latency communication interfaces - if a 
low-level control interface and sufficient computing power are provided 
at all.

This workshop will provide hands-on advice on how to implement open 
control interfaces for commercial manipulators of several popular 
manufacturers. Moreover, it will address control and software issues 
such as interface design, suitable control approaches, and the lower 
layers of control architectures, which significantly influence the 
performance of a system.

List of Topics

* Modifying commercial manipulator controllers for high-rate
   low-level control (implementations based on major manufacturers
   like ABB, Comau, Kuka, Mitsubishi, Stäubli)
* Low-level control interfaces: paradigms and implementation issues
* Manipulator control software architectures: the lower layers
* Open source robot control software
* Control algorithms
* Multi sensor integration
* Software tools and code generation


Daniel Kubus (point of contact)
TU Braunschweig
Institut fuer Robotik und Prozessinformatik
dku at rob.cs.tu-bs.de

Prof. Klas Nilsson
Lund University
Dept. of Computer Science
klas at cs.lth.se

Prof. Rolf Johansson
Lund University
Dept. of Automatic Control
Rolf.Johansson at control.lth.se

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