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Title: Modular architecture for robotics and teleoperation

Patent ·
OSTI ID:870722
 [1]
  1. 11908 Ibex Ave., N.E., Albuquerque, NM 87111
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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.

Research Organization:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
Assignee:
Anderson, Robert J. (11908 Ibex Ave., N.E., Albuquerque, NM 87111)
Patent Number(s):
US 5581666
Application Number:
08/432,376
OSTI ID:
870722
Country of Publication:
United States
Language:
English

References (8)

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

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Related Subjects

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
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