Catalogo Articoli (Spogli Riviste)

OPAC HELP

Titolo:
DISTRIBUTED CONTROL ARCHITECTURE FOR A SENSOR-DRIVEN DUAL ARM SYSTEM
Autore:
TARN TJ; BEJCZY AK; XI N; RAMADORAI AK;
Indirizzi:
WASHINGTON UNIV,DEPT SYST SCI & MATH ST LOUIS MO 63130 CALTECH PASADENA CA 91125 PHILIPS LABS BRIARCLIFF MANOR NY 10510
Titolo Testata:
Mechatronics
fascicolo: 5, volume: 4, anno: 1994,
pagine: 481 - 502
SICI:
0957-4158(1994)4:5<481:DCAFAS>2.0.ZU;2-H
Fonte:
ISI
Lingua:
ENG
Soggetto:
MANIPULATORS; FEEDFORWARD;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
Science Citation Index Expanded
Science Citation Index Expanded
Citazioni:
38
Recensione:
Indirizzi per estratti:
Citazione:
T.J. Tarn et al., "DISTRIBUTED CONTROL ARCHITECTURE FOR A SENSOR-DRIVEN DUAL ARM SYSTEM", Mechatronics, 4(5), 1994, pp. 481-502

Abstract

A distributed computing and control architecture for sensor-based control of a dual arm system is described. The system comprises of two PUMA 560 robots with state-of-the-art joint-level motion controllers with accurate joint position and velocity measurement, an accurate joint calibration system, and six-axis wrist force/torque sensors with optical fiber communication with the controller. A Silicon Graphics workstation, through a shared memory interface with the joint-level controllers, provides a task-level command and control capability. A computer vision system, with two CCD (Charge-Coupled Device) cameras, is also interfaced to the workstation. A variety of control schemes may be implemented on this system. A servo rate of 1000 Hz, without interpolation,has been achieved for task-level servo schemes with force feedback. The experimental results presented here demonstrate the performance capabilities of the system.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 28/11/20 alle ore 21:45:07