{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T17:33:35Z","timestamp":1770917615430,"version":"3.50.1"},"reference-count":22,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2004,6,1]],"date-time":"2004-06-01T00:00:00Z","timestamp":1086048000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2004,6,1]]},"abstract":"<jats:p>Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task\u2010level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.<\/jats:p>","DOI":"10.1108\/01439910410532369","type":"journal-article","created":{"date-parts":[[2004,4,21]],"date-time":"2004-04-21T08:11:52Z","timestamp":1082535112000},"page":"284-296","source":"Crossref","is-referenced-by-count":35,"title":["Sensor integration in task\u2010level programming and industrial robotic task execution control"],"prefix":"10.1108","volume":"31","author":[{"given":"Rolf","family":"Johansson","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Anders","family":"Robertsson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Klas","family":"Nilsson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Torgny","family":"Brog\u00e5rdh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Per","family":"Cederberg","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Magnus","family":"Olsson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tomas","family":"Olsson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gunnar","family":"Bolmsj\u00f6","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022021020460579200_b1","unstructured":"Arimoto, S., Kawamura, S. and Miyazaki, F. (1984), \u201cIterative learning control for robot systems\u201d, Proc. IECON, Tokyo, Japan."},{"key":"key2022021020460579200_b2","unstructured":"Berry, G. (1998), \u201cThe foundations of Esterel\u201d, in Plotkin, G., Stirling, C. and Tofte, M. (Eds), Proof, Language and Interaction: Essays in Honour of Robin Milner, MIT Press, Cambridge, MA."},{"key":"key2022021020460579200_b3","doi-asserted-by":"crossref","unstructured":"Borrelly, J.J., Coste\u2010Mani\u00e8re, E., Espiau, B., Kapellos, K., Pissard\u2010Gibollet, R., Simon, D. and Turro, N. (1998), \u201cThe Orccad architecture\u201d, Int. J. Robotics Research, Vol. 18 No. 4, pp. 338\u201059.","DOI":"10.1177\/027836499801700403"},{"key":"key2022021020460579200_b4","unstructured":"Cederberg, P., Olsson, M. and Bolmsj\u00f6, G. (1999), \u201cA generic sensor interface in robot simulation and control\u201d, Proc. Scand. Symp. Robotics 99, October 1999, Oulu, Finland, pp. 221\u201030."},{"key":"key2022021020460579200_b5","doi-asserted-by":"crossref","unstructured":"Cederberg, P., Olsson, M. and Bolmsj\u00f6, G. (2002), \u201cVirtual triangulation sensor development, behavior simulation and CAR integration applied to robotic arc\u2010welding\u201d, Journal of Intelligent and Robotic Systems, Vol. 35, pp. 365\u201079.","DOI":"10.1023\/A:1022306821640"},{"key":"key2022021020460579200_b6","unstructured":"Dohring, M. and Newman, W. (2002), \u201cAdmittance enhancement in force feedback of dynamic systems\u201d, Proc. 2002 IEEE Int. Conf. Robotics and Automation, May 2002, Washington, DC, pp. 638\u201043."},{"key":"key2022021020460579200_b7","doi-asserted-by":"crossref","unstructured":"Hogan, N. (1985), \u201cImpedance control: an approach to manipulation, Parts I\u2010III\u201d, J. Dynamic Systems, Measurement, and Control, ASME, Vol. 107, pp. 1\u201024.","DOI":"10.1115\/1.3140701"},{"key":"key2022021020460579200_b8","unstructured":"Johansson, R. and Rantzer, A. (2003), Nonlinear and Hybrid Systems in Automotive Control, Springer, London."},{"key":"key2022021020460579200_b9","unstructured":"Nilsson, K. (1996), \u201cIndustrial robot programming\u201d, PhD thesis, Department of Automatic Control, Institute of Lund Technology, Lund University."},{"key":"key2022021020460579200_b10","doi-asserted-by":"crossref","unstructured":"Nilsson, K. and Johansson, R. (1999), \u201cIntegrated architecture for industrial robot programming and control\u201d, Journal of Robotics and Autonomous Systems, Vol. 29, pp. 205\u201026.","DOI":"10.1016\/S0921-8890(99)00056-1"},{"key":"key2022021020460579200_b11","unstructured":"Norrl\u00f6f, M. (2000), \u201cIterative learning control: analysis, design and experiments\u201d, PhD thesis, Dept. Elec. Eng., Link\u00f6ping Univ., Sweden."},{"key":"key2022021020460579200_b12","unstructured":"Olsson, M. (2002), \u201cSimulation and execution of autonomous robot systems\u201d, PhD thesis, Department of Mechanical Engineering, Lund University."},{"key":"key2022021020460579200_b13","unstructured":"Olsson, M., Cederberg, P. and Bolmsj\u00f6, G. (1999), \u201cTelerobotics for sensor driven industrial robot tasks\u201d, Proc. Deneb User Conference 99, October 1999, Troy, MI."},{"key":"key2022021020460579200_b14","doi-asserted-by":"crossref","unstructured":"Raibert, M.H. and Craig, J.J. (1981), \u201cHybrid position\/force control of manipulators\u201d, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 103 No. 2, pp. 126\u201033.","DOI":"10.1115\/1.3139652"},{"key":"key2022021020460579200_b15","unstructured":"Robertsson, A., Scalamogna, D., Grundelius, M. and Johansson, R. (2002), \u201cCascaded iterative learning control for improved task execution of optimal control\u201d, Proc. IEEE Int. Conf. Robotics and Automation (ICRA'02), May 2002, Washington, DC."},{"key":"key2022021020460579200_b16","unstructured":"Robertsson, A., Valera, A., Nilsson, K. and Johansson, R. (2000), \u201cOnline reconfiguration of real\u2010time robot motion and force control\u201d, Preprints 6th IFAC Symp. Robot Control (SYROCO'00), September 2000, IFAC, Vienna."},{"key":"key2022021020460579200_b17","doi-asserted-by":"crossref","unstructured":"Siciliano, B. and Villani, L. (1999), Robot Force Control, Kluwer Academic Publishers, Dordrecht.","DOI":"10.1007\/978-1-4615-4431-9"},{"key":"key2022021020460579200_b18","doi-asserted-by":"crossref","unstructured":"Simon, D., Espiau, B., Castillo, E. and Kapellos, K. (1993), \u201cComputer\u2010aided design of a generic robot controller handling reactivity and real\u2010time control issues\u201d, IEEE Trans. Control Systems Technology, Vol. 1 No. 4, pp. 213\u201029.","DOI":"10.1109\/87.260267"},{"key":"key2022021020460579200_b19","doi-asserted-by":"crossref","unstructured":"Simon, D., Espiau, B., Kapellos, K. and Pissard\u2010Gibollet, R. (1997), \u201cOrccad: software engineering for real\u2010time robotics: a technical insight\u201d, Robotica, Vol. 15, pp. 111\u20105.","DOI":"10.1017\/S0263574797000131"},{"key":"key2022021020460579200_b20","doi-asserted-by":"crossref","unstructured":"Yoshikawa, T. (2000), \u201cForce control of robot manipulators\u201d, Proc. IEEE Int. Conf. Robotics and Automation, April 2000, pp. 220\u20106.","DOI":"10.1109\/ROBOT.2000.844062"},{"key":"key2022021020460579200_frd1","doi-asserted-by":"crossref","unstructured":"Boussinot, F. and De Simone, R. (1991), \u201cThe Esterel language\u201d, Proc. IEEE, Vol. 79, pp. 1293\u2010304.","DOI":"10.1109\/5.97299"},{"key":"key2022021020460579200_frd2","unstructured":"Coste\u2010Mani\u00e8re, E., Espiau, B. and Rutten, E. (1992), \u201cA task\u2010level robot programming language and its reactive execution\u201d, Proc. 1992 IEEE Int. Conf. Robotics and Automation, May 1992, Nice, France, pp. 2751\u20106."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910410532369","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410532369\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410532369\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:49:46Z","timestamp":1753400986000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/31\/3\/284-296\/187695"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,6,1]]},"references-count":22,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2004,6,1]]}},"alternative-id":["10.1108\/01439910410532369"],"URL":"https:\/\/doi.org\/10.1108\/01439910410532369","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2004,6,1]]}}}