Modular architecture for robotics and teleoperation

Anderson, Robert J

Advanced Search OptionsAdvanced Search queries use a traditional Term Search. For more info, see our FAQ.

All Fields:

Patent Title:

Abstract:

Assignee:

Inventor(s):

Patent Number:

Patent Classification (CPC):

All Classifications
A - human necessities
A01 - agriculture
A21 - baking
A22 - butchering
A23 - foods or foodstuffs
A24 - tobacco
A41 - wearing apparel
A42 - headwear
A43 - footwear
A44 - haberdashery
A45 - hand or travelling articles
A46 - brushware
A47 - furniture
A61 - medical or veterinary science
A62 - life-saving
A63 - sports
A99 - subject matter not otherwise provided for in this section
B - performing operations
B01 - physical or chemical processes or apparatus in general
B02 - crushing, pulverising, or disintegrating
B03 - separation of solid materials using liquids or using pneumatic tables or jigs
B04 - centrifugal apparatus or machines for carrying-out physical or chemical processes
B05 - spraying or atomising in general
B06 - generating or transmitting mechanical vibrations in general
B07 - separating solids from solids
B08 - cleaning
B09 - disposal of solid waste
B21 - mechanical metal-working without essentially removing material
B22 - casting
B23 - machine tools
B24 - grinding
B25 - hand tools
B26 - hand cutting tools
B27 - working or preserving wood or similar material
B28 - working cement, clay, or stone
B29 - working of plastics
B30 - presses
B31 - making articles of paper, cardboard or material worked in a manner analogous to paper
B32 - layered products
B33 - additive manufacturing technology
B41 - printing
B42 - bookbinding
B43 - writing or drawing implements
B44 - decorative arts
B60 - vehicles in general
B61 - railways
B62 - land vehicles for travelling otherwise than on rails
B63 - ships or other waterborne vessels
B64 - aircraft
B65 - conveying
B66 - hoisting
B67 - opening, closing {or cleaning} bottles, jars or similar containers
B68 - saddlery
B81 - microstructural technology
B82 - nanotechnology
B99 - subject matter not otherwise provided for in this section
C - chemistry
C01 - inorganic chemistry
C02 - treatment of water, waste water, sewage, or sludge
C03 - glass
C04 - cements
C05 - fertilisers
C06 - explosives
C07 - organic chemistry
C08 - organic macromolecular compounds
C09 - dyes
C10 - petroleum, gas or coke industries
C11 - animal or vegetable oils, fats, fatty substances or waxes
C12 - biochemistry
C13 - sugar industry
C14 - skins
C21 - metallurgy of iron
C22 - metallurgy
C23 - coating metallic material
C25 - electrolytic or electrophoretic processes
C30 - crystal growth
C40 - combinatorial technology
C99 - subject matter not otherwise provided for in this section
D - textiles
D01 - natural or man-made threads or fibres
D02 - yarns
D03 - weaving
D04 - braiding
D05 - sewing
D06 - treatment of textiles or the like
D07 - ropes
D10 - indexing scheme associated with sublasses of section d, relating to textiles
D21 - paper-making
D99 - subject matter not otherwise provided for in this section
E - fixed constructions
E01 - construction of roads, railways, or bridges
E02 - hydraulic engineering
E03 - water supply
E04 - building
E05 - locks
E06 - doors, windows, shutters, or roller blinds in general
E21 - earth drilling
E99 - subject matter not otherwise provided for in this section
F - mechanical engineering
F01 - machines or engines in general
F02 - combustion engines
F03 - machines or engines for liquids
F04 - positive - displacement machines for liquids
F05 - indexing schemes relating to engines or pumps in various subclasses of classes f01-f04
F15 - fluid-pressure actuators
F16 - engineering elements and units
F17 - storing or distributing gases or liquids
F21 - lighting
F22 - steam generation
F23 - combustion apparatus
F24 - heating
F25 - refrigeration or cooling
F26 - drying
F27 - furnaces
F28 - heat exchange in general
F41 - weapons
F42 - ammunition
F99 - subject matter not otherwise provided for in this section
G - physics
G01 - measuring
G02 - optics
G03 - photography
G04 - horology
G05 - controlling
G06 - computing
G07 - checking-devices
G08 - signalling
G09 - education
G10 - musical instruments
G11 - information storage
G12 - instrument details
G16 - information and communication technology [ict] specially adapted for specific application fields
G21 - nuclear physics
G99 - subject matter not otherwise provided for in this section
H - electricity
H01 - basic electric elements
H02 - generation
H03 - basic electronic circuitry
H04 - electric communication technique
H05 - electric techniques not otherwise provided for
H99 - subject matter not otherwise provided for in this section
Y - new / cross sectional technologies
Y02 - technologies or applications for mitigation or adaptation against climate change
Y04 - information or communication technologies having an impact on other technology areas
Y10 - technical subjects covered by former uspc

More Options ...

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:: 1996-01-01

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

Show more

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

Show less

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.

Copy to clipboard


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

Copy to clipboard


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

Copy to clipboard


                    
@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         = {1996},

  month        = {1}

}

Copy to clipboard

Patent:

Save / Share:

Export Metadata

Save to My Library

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

Similar Records in DOE Patents and OSTI.GOV collections:

Robotic system for retractable teleoperated arm within enclosed shell with capability of operating within a confined space

Patent Randolph, John David [Maryville, TN]; Lloyd, Peter Downes [Knoxville, TN]; Love, Lonnie Joe [Knoxville, TN]; ...

An apparatus for performing a task in a confined space having an access port. The apparatus comprise: a confinement box securable to the access port of the confined space; a shell extending from the confinement box; a teleoperated arm movable between a retracted position, in which the teleoperated arm is disposed within the shell, and a deployed position, in which the teleoperated arm extends through the access port and into the confined space to perform the task; and a control system for commanding the teleoperated arm. The arm links and joint connectors of the teleoperated arm assembly are the conduitsmore » for the process « less
Full Text Available
Teleoperated robotic sorting system

Patent Roos, Charles E.; Sommer, Edward J.; Parrish, Robert H.; ...

A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering themore » « less
Full Text Available
Teleoperated robotic sorting system

Patent Roos, Charles E.; Sommer, Jr., Edward J.; Parrish, Robert H.; ...

A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering themore » « less
Full Text Available
Modular robot

Patent Ferrante, Todd A [Idaho Falls, ID]

A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurizedmore » « less
Full Text Available
Robotic hand with modular extensions

Patent Salisbury, Curt Michael; Quigley, Morgan

A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.
Full Text Available

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