Modular architecture for robotics and teleoperation

Anderson, Robert J

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Title: Modular architecture for robotics and teleoperation

Abstract

Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

Inventors:

Anderson, Robert J ^[1]

11908 Ibex Ave., N.E., Albuquerque, NM 87111

Issue Date:: Mon Jan 01 00:00:00 EST 1996

Research Org.:: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)

OSTI Identifier:: 870722

Patent Number(s):: 5581666

Application Number:: 08/432,376

Assignee:: Anderson, Robert J. (11908 Ibex Ave., N.E., Albuquerque, NM 87111)

Patent Classifications (CPCs):: B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS

G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL

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B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
B25J9/1605 - {Simulation of manipulator lay-out, design, modelling of manipulator}
B25J9/161 - {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor}

G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
G05B2219/39338 - Impedance control, also mechanical
G05B2219/39379 - Open architecture such as nasrem, ngc, dicam, saridis, chimera, gisc, utap, nomad, robline
G05B2219/39386 - Cell configuration, selection and connection of cell combinations
G05B2219/40311 - Real time simulation

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Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: modular; architecture; robotics; teleoperation; systems; methods; modularization; discretization; real-time; robot; telerobot; passive; network; based; control; laws; modules; consist; one-ports; two-ports; wave; variables; position; information; passed; behavior; module; decomposed; uncoupled; linear-time-invariant; coupled; nonlinear; memoryless; elements; separately; discretized; position information; network based; control law; teleoperation systems; /700/

Citation Formats


                    Anderson, Robert J. Modular architecture for robotics and teleoperation.  United States: N. p., 1996. 
        Web.

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                    Anderson, Robert J. Modular architecture for robotics and teleoperation.  United States.

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                    Anderson, Robert J. Mon .  
        "Modular architecture for robotics and teleoperation".  United States.  https://www.osti.gov/servlets/purl/870722.

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@article{osti_870722,

  title        = {Modular architecture for robotics and teleoperation},

  author       = {Anderson, Robert J},

  abstractNote = {Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {Mon Jan 01 00:00:00 EST 1996},

  month        = {Mon Jan 01 00:00:00 EST 1996}

}

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Works referenced in this record:

Bilateral control of teleoperators with time delay
journal, May 1989

Anderson, R. J.; Spong, M. W.
IEEE Transactions on Automatic Control, Vol. 34, Issue 5
https://doi.org/10.1109/9.24201

Robot Manipulator Control under Unix RCCL: A Robot Control "C" Library
journal, December 1986

Hayward, Vincent; Paul, Richard P.
The International Journal of Robotics Research, Vol. 5, Issue 4
https://doi.org/10.1177/027836498600500407

Real-time control of robots: Strategies for hardware and software development
journal, January 1989

Sollbach, E. M.; Goldenberg, A. A.
Robotics and Computer-Integrated Manufacturing, Vol. 6, Issue 4
https://doi.org/10.1016/0736-5845(89)90123-3

A robust layered control system for a mobile robot
journal, January 1986

Brooks, R.
IEEE Journal on Robotics and Automation, Vol. 2, Issue 1
https://doi.org/10.1109/JRA.1986.1087032

The NASREM robot control system standard
journal, January 1989

Lumia, Ronald; Fiala, John; Wavering, Albert
Robotics and Computer-Integrated Manufacturing, Vol. 6, Issue 4
https://doi.org/10.1016/0736-5845(89)90120-8

Impedance Control: An Approach to Manipulation: Part I—Theory
journal, March 1985

Hogan, Neville
Journal of Dynamic Systems, Measurement, and Control, Vol. 107, Issue 1
https://doi.org/10.1115/1.3140702

Transient shaping in force-reflecting teleoperation
conference, January 1991

Niemeyer, G.; Slotine, J. -J. E.
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments
https://doi.org/10.1109/ICAR.1991.240642

Asymptotic Stability for Force Reflecting Teleoperators with Time Delay
journal, April 1992

Anderson, Robert J.; Spong, Mark W.
The International Journal of Robotics Research, Vol. 11, Issue 2
https://doi.org/10.1177/027836499201100204

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Similar Records

Title: Modular architecture for robotics and teleoperation

Abstract

Citation Formats

Bilateral control of teleoperators with time delay journal, May 1989

Robot Manipulator Control under Unix RCCL: A Robot Control "C" Library journal, December 1986

Real-time control of robots: Strategies for hardware and software development journal, January 1989

A robust layered control system for a mobile robot journal, January 1986

The NASREM robot control system standard journal, January 1989

Impedance Control: An Approach to Manipulation: Part I—Theory journal, March 1985

Transient shaping in force-reflecting teleoperation conference, January 1991

Asymptotic Stability for Force Reflecting Teleoperators with Time Delay journal, April 1992

Bilateral control of teleoperators with time delay
journal, May 1989

Robot Manipulator Control under Unix RCCL: A Robot Control "C" Library
journal, December 1986

Real-time control of robots: Strategies for hardware and software development
journal, January 1989

A robust layered control system for a mobile robot
journal, January 1986

The NASREM robot control system standard
journal, January 1989

Impedance Control: An Approach to Manipulation: Part I—Theory
journal, March 1985

Transient shaping in force-reflecting teleoperation
conference, January 1991

Asymptotic Stability for Force Reflecting Teleoperators with Time Delay
journal, April 1992