Hierarchical motion control for real time simulation of industrial robots

Multi axis machine tools implement real time motion control algorithms. Objects including difficult to manufacture and deformable shapes show variable properties when tools apply a pressure on the object surface. Force compliant industrial robots are used to manipulate deformable objects in real time simulation. In this research, a hierarchical method of motion controlling strategy is presented. The proposed approach is described regarding performance characteristics such as accuracy, repeatability, controllability of the motion segmentation and time dynamics. The result shows that a hierarchical control approach can be considered as a potential candidate to manipulate deformable objects where force requirements are critical.