Modular architecture for robotics and teleoperation

Anderson, Robert J

Modular architecture for robotics and teleoperation

Patent · 01 January 1996

OSTI ID:870722

Anderson, Robert J ^[1]

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

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

DOE Contract Number:: ;

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)

The NASREM robot control system standard 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	journal	January 1989
Real-time control of robots: Strategies for hardware and software development 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	journal	January 1989
Bilateral control of teleoperators with time delay Anderson, R. J.; Spong, M. W. IEEE Transactions on Automatic Control, Vol. 34, Issue 5 https://doi.org/10.1109/9.24201	journal	May 1989
Transient shaping in force-reflecting teleoperation Niemeyer, G.; Slotine, J. -J. E. Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments https://doi.org/10.1109/ICAR.1991.240642	conference	January 1991
A robust layered control system for a mobile robot Brooks, R. IEEE Journal on Robotics and Automation, Vol. 2, Issue 1 https://doi.org/10.1109/JRA.1986.1087032	journal	January 1986
Impedance Control: An Approach to Manipulation: Part I—Theory Hogan, Neville Journal of Dynamic Systems, Measurement, and Control, Vol. 107, Issue 1 https://doi.org/10.1115/1.3140702	journal	March 1985
Robot Manipulator Control under Unix RCCL: A Robot Control "C" Library Hayward, Vincent; Paul, Richard P. The International Journal of Robotics Research, Vol. 5, Issue 4 https://doi.org/10.1177/027836498600500407	journal	December 1986
Asymptotic Stability for Force Reflecting Teleoperators with Time Delay Anderson, Robert J.; Spong, Mark W. The International Journal of Robotics Research, Vol. 11, Issue 2 https://doi.org/10.1177/027836499201100204	journal	April 1992

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Related Subjects

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

Modular architecture for robotics and teleoperation

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References (8)

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