Computer Science and Information Technologies, Computer Science and Information Technologies 2006

Font Size: 
Rule-based Generation of Motion Control Software for General Serial-Link Robot manipulators
M. Wenz, H. Worn

Last modified: 2020-12-26


Monolithically structured robot controls can only be adapted and enchanced with high efforts. Therefore we develop a configuration system and a graphical user interface in order to configure the robot control on te fly. Within the envisaged scenario the operator is able to configure the motion control according to the mechanical structure of a robot by just pushing of a "a button". For the flexible configuration of robot control systems knowledge-based approaches are prsued. The motion control of a simulated robot is produced by the simple combination of components. In particular we automtically configure the forward and backward kinematics on the basis of adeclarative description of a robot, which among other things indicates the number of joints. The main goal of our project is the development of a generalized software architecture that applies to all classes of robots.


Rule-based Generation; Motion Control Software; General Serial-Link Robot manipulators


1. Craig J.J. "Introduction to Robotics: Mechanics and Control". 3rd edition, Addison-Wesley, 2004

2.Spong, Mark W., Hutchinson, Seth, Vidyasagar, M, "Robot Modeling and Control". John Wiley and Sons Inc., 2005.

3. Bruyninckx, H. "Open robot control software: the OROCOS project". In.: Proc. of IEEE International Conference on Robotics and Automation (ICRA). Seoul, Korea, 2001, pp.2523-2528.

4.Pryor M., Taylor, R., Kapoor, C., Tesar, C.:"Generalized software components for reconfiguring hyper-redundant maniplators". IEEE/ASME Transactions on Mechatronics, 2002; 7(4): 475-478.

5. P. S. March, R. C. Taylor, C. Kapoor, D. Tesar. "Decision Making for Remote Robotic Operations". In: Proc. of IEEE Conf. on Robotics and Automation Vol. 3, 2004, pp. 2764-2769.

6. Gourdeau R. "Object-oriented programming for robotic manipulator simulation".

7.Corke P.I. "Robotics Toolbox for MATLAB". IEEE Robotics and Automation Magazine, 1996; 3(1): 24-32

8.Corke P.I, "A computer tool for simulation and analysis: the Robotics Toolbox for MATLAB". In: Proc. of the 1995 National Conference of the Australian Robot Association. Melbourne, ustralia, 1995, pp. 319-330.

9. J.F. Nethery; M.W. Spong: "Robotica: A Mathematical Package for Robot Analysis" IEEE Robotics and Automation magazine, 1993.

10. Denavit, J. and Hartenberg, R. S. "A Kinematic Notation for Lower-pair Mechanisms Based on Matrices" ASME Jornal of Applied Mechanics, 1955; 22: 215-221.

11. Pieper D.L. "The Kinematics of Manipulators under Computer Control". PhD thesis, Departament of mecanical Engineering, Stanford University, 1968

12. Tourassis, V. D. and Ang Jr, "Task decoupling in robotic manipulators". Journal of Intellegient and Roboti Systems, 1995; 14(3): 283-302.

13. Paul R. P., Renaud, M., and Stevenson, C. "A systematic approach for obtaining the kinematics of recursive manipulators based on Homogeneous transformations". In: M. Brady and R. Paul (eds) Robotics Research - the first internetional symposium. The MIT Press, Cambridge, massachusetts, 1984, pp.707-726

14. Wolovich W. "Robotics: Basic Analysis and Design". CBS College Publishing, 1987.

15. Paul R. "Robot manipulators : mathematics, programming, and control". The MIT Press, Cambridge, massachusetts, 1981 1984,

Full Text: PDF