The analysis and development of a manipulator redundant in structure and sensor devices controlled by a distributed multiprocessor architecture are discussed. The goal has been the realization of a modular structure of the manipulator with evident aspects of flexibility and transportability. The distributed control structure, thanks to his modularity and flexibility could be integrated in the future into an operative structure aimed to space telerobotics. The architecture is applied to the 6 DOF manipulator Gilberto.
Redundancy in Sensors, Control and Planning of a Robotic System for Space Telerobotics
1989
4 pages
Report
Keine Angabe
Englisch
Astronautics , Robotics/Robots , Active control , Control systems design , Expert systems , Manipulators , Redundancy , Robot arms , Robot sensors , Teleoperators , Computer programs , Controllers , Distributed parameter systems , Man machine systems , Multiprocessing (Computers) , Redundant components , Voice control , Foreign technology , Space missions
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