SMART1.5. Sequential Modular Architecture for Robotics and Teleoperation
- Sandia National Labs., Albuquerque, NM (United States)
The SMART software is used to build telerobot systems, whereby a human operator commands the motion of remote robot devices. The SMART software architecture allows the telerobot system developer to integrate different input devices, sensors, constraint information, and robot devices into a working system. Because each module meets certain stability guidelines, the modules can be freely distributed among processors in a VME (Virtual Module Europa) environment and arbitrarily connected together and individually tuned without affecting the stability of the overall system. The software is designed to be an integration tool, allowing the incorporation of separately developed modules. This software release includes the core set of SMART modules, plus modules for line input device (the CIS Dimension 6 force/torque ball) and one robot (the PUMA robot with an old Unimation controller).
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 436742
- Report Number(s):
- ESTSC--000794SPARC00
- Country of Publication:
- United States
- Language:
- English
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