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Title: Modular architecture for robotics and teleoperation

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:
OSTI Identifier:
870722
Assignee:
Anderson, Robert J. (11908 Ibex Ave., N.E., Albuquerque, NM 87111) SNL
Patent Number(s):
US 5581666
Application Number:
08/432,376
Research Org:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA
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/

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