skip to main content
DOE Patents title logo U.S. Department of Energy
Office of Scientific and Technical Information

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:
 [1]
  1. 11908 Ibex Ave., N.E., Albuquerque, NM 87111
Issue Date:
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):
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
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.
Anderson, Robert J. Modular architecture for robotics and teleoperation. United States.
Anderson, Robert J. Mon . "Modular architecture for robotics and teleoperation". United States. https://www.osti.gov/servlets/purl/870722.
@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}
}

Patent:

Save / Share:

Works referenced in this record:

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