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Title: Development of a modular integrated control architecture for flexible manipulators. Final report

Abstract

In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford.

Authors:
 [1];  [2]
+ Show Author Affiliations
  1. Oak Ridge National Lab., TN (United States)
  2. SPAR Aerospace Ltd., (United States)
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
113757
Report Number(s):
DOE/OR/21400-T482
ON: DE96000762; CRN: C/ORNL--92-0152; TRN: 95:023200
DOE Contract Number:
AC05-84OR21400
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: 8 Dec 1994
Country of Publication:
United States
Language:
English
Subject:
99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; MANIPULATORS; COMPUTER ARCHITECTURE; ROBOTS; TANKS; COMMERCIALIZATION; COMPUTERIZED CONTROL SYSTEMS; PROGRESS REPORT

Citation Formats

Burks, B.L., and Battiston, G.. Development of a modular integrated control architecture for flexible manipulators. Final report. United States: N. p., 1994. Web. doi:10.2172/113757.
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Burks, B.L., & Battiston, G.. Development of a modular integrated control architecture for flexible manipulators. Final report. United States. doi:10.2172/113757.
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Burks, B.L., and Battiston, G.. Thu . "Development of a modular integrated control architecture for flexible manipulators. Final report". United States. doi:10.2172/113757. https://www.osti.gov/servlets/purl/113757.
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@article{osti_113757,
title = {Development of a modular integrated control architecture for flexible manipulators. Final report},
author = {Burks, B.L. and Battiston, G.},
abstractNote = {In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford.},
doi = {10.2172/113757},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Dec 08 00:00:00 EST 1994},
month = {Thu Dec 08 00:00:00 EST 1994}
}
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Technical Report:
View Technical Report (1.03 MB)
DOI:  10.2172/113757
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