Mechatronic design of open-structure multi-robot controllers

被引：11
|
作者：
Zieliñski, C
Szynkiewicz, W
Mianowski, K
Nazarczuk, K
机构：
[1] Warsaw Univ Technol, Inst Control & Computat Engn, PL-00665 Warsaw, Poland
[2] Warsaw Univ Technol, Inst Aeronaut & Appl Mech, PL-00665 Warsaw, Poland
来源：
MECHATRONICS | 2001年 / 11卷 / 08期
关键词：
Flexible manipulators - Hierarchical systems - Mechatronics - Microcontrollers - Microsensors - Software prototyping;
D O I：
10.1016/S0957-4158(00)00038-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper proposes a structure for open, hierarchical, multi-device controllers. The proposed structure takes into account that the system may contain several robots of different types, a certain number of cooperating devices, diverse sensors and also the fact that the task, the system has to execute, and the number and type of its components may vary considerably over time. The concept has been verified by designing a controller for a prototype Robot of a New Type (RNT) robot. The flexibility of the system is due to the software, so the programming aspect is treated comprehensively in the paper. (C) 2001 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：987 / 1000
页数：14
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