A flexible architecture for telemanipulator control

被引：3
作者：
Weber, A
Breitwieser, H
Benner, J
机构：
[1] Univ Karlsruhe, Inst Mech Verfahrenstech & Mech, D-76128 Karlsruhe, Germany
[2] Forschungszentrum Karlsruhe, D-76021 Karlsruhe, Germany
来源：
CONTROL ENGINEERING PRACTICE | 2002年 / 10卷 / 11期
关键词：
telemanipulation; distribution control; control algorithms; optimisation; medical applications; manual control;
D O I：
10.1016/S0967-0661(02)00078-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Many automation tasks require human intervention and guidance. A control system architecture combining work units and master units by software interfaces is described. OSCAR(1) is incorporated as a universal transform service. It is regarding dynamic properties of work units. Implementing the transform at the master site eases integration of new robot types. The dynamic behaviour when crossing singular points is compared with a closed form standard transform. The control system has also been applied in medical manipulator systems. (C) 2002 Published by Elsevier Science Ltd.
引用
收藏
页码：1293 / 1299
页数：7
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