DocumentCode
3400585
Title
Development of Control System Architecture for Modular and Re-configurable Robot Manipulators
Author
Wang, Daqing ; Goldenberg, Andrew A. ; Liu, Guangjun
Author_Institution
Toronto Univ., Toronto
fYear
2007
fDate
5-8 Aug. 2007
Firstpage
20
Lastpage
25
Abstract
Architecture forms the backbone of robotic control systems and has to be carefully studied before the system is built. In this paper, after insight and exclusive discussions on control system architecture requirements of modular and re-configurable robot manipulators are presented, a hybrid architecture is proposed and described in details. The proposed architecture has been implemented on a modular and reconfigurable robot, and the testing results show the validity of the proposed architecture.
Keywords
manipulators; control system architecture; hybrid architecture; modular reconfigurable robot manipulators; robotic control systems; Automation; Control systems; Decision support systems; Manipulators; Mechatronics; Robots; Modular and reconfigurable robot; control system architecture; hybrid architecture;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location
Harbin
Print_ISBN
978-1-4244-0828-3
Electronic_ISBN
978-1-4244-0828-3
Type
conf
DOI
10.1109/ICMA.2007.4303510
Filename
4303510
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