A real-time control system for a mobile dexterous 7 DOF arm

Lim, D. Scott; Lee, T.S.; Seraji, H.

doi:10.1109/robot.1994.351200

Cited by 10 publications

(4 citation statements)

References 9 publications

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“…The JPL team headed by Dr. Seraji has successfully demonstrated their version of the second approach on an 8 DOF system. 82 The experimental set-up was a redundant arm mounted on a sliding rail. The Configuration Control Approach (CCA) uses a damped-least squares (DLS) algorithm to invert the extended Jacobian produced by augmenting task space.…”

mentioning

confidence: 99%

The Next Generation Munitions Handler Prototype Acquisition Campaign: Targets & Courses of Action

Leahy¹,

Hamill²

1995

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mentioning

confidence: 99%

The Next Generation Munitions Handler Prototype Acquisition Campaign: Targets & Courses of Action

Leahy¹,

Hamill²

1995

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“…The UOI provides interfaces to a video switcher, a remote site manipulator control system (Lim, Lee, & Seraji, 1994), a remote site visual inspection system (Balaram & Prasad, 1993), two computer-controlled pan-tilt platforms (one of which also has a computer-controlled zoom lens), a six degree-of-freedom (DOF) hand controller, a six-DOF spaceball, and a Deneb TeleGRIP graphics environment. The UOI is primarily written in Lisp with additional interface code written in C. The remote site has a Robotics Research seven-DOF manipulator on a translating rail (Lim et al, 1994) and a gripper that holds multiple sensors and two cameras.…”

Section: System Descriptionmentioning

confidence: 99%

“…The UOI is primarily written in Lisp with additional interface code written in C. The remote site has a Robotics Research seven-DOF manipulator on a translating rail (Lim et al, 1994) and a gripper that holds multiple sensors and two cameras.…”

Section: System Descriptionmentioning

confidence: 99%

Task Lines and Motion Guides

et al. 1998

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The new task lines and motion guides approaches to telerobotics are described. Motion guides is a new paradigm for teleoperation of a robot where the path is teleoperated rather than the robot, and the robot is constrained to follow the path. Continuous commands to the robot are only onedimensional: forward, back, or halt along the motion guide. Task lines have subtasks attached to motion guides. The task lines and motion guides have been implemented in a virtual reality environment to enable task description and execution in a natural, virtual reality graphics environment rather than via direct interaction with a command program. Subtasks are represented in the virtual reality environment by icons attached to the motion guides. The combination of task lines and motion guides is valuable for ground control of Space Station robots, which is the initial application for this technology.

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“…Several controller processes run at different frequencies. The system was previously implemented on a VME-bus/VxWorks RTOS for highlevel control and a Multibus-based system for joint-level control 2,3 and was re-implemented on a PC and Multibusbased system. The two sub-systems were connected via a VME-to-Multibus or PC-to-Multibus extender.…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation

Pan

Patel

2004

Robotica

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Sophisticated robotic applications require systems to be reconfigurable at the system level. Aiming at this requirement, this paper presents the design and implementation of a software architecture for a reconfigurable real-time multi-processing system for multi-robot control. The system is partitioned into loosely coupled function units and the data modules manipulated by the function units. Modularized and unified structures of the sub-controllers and controller processes are designed and constructed. All the controller processes run autonomously and intra-sub-controller information exchange is realized by shared data modules that serve as a data repository in the sub-controller. The dynamic data-management processes are responsible for data exchange among sub-controllers and across the computer network. Among sub-controllers there is no explicit temporal synchronization and the data dependencies are maintained by using datum-based synchronization. The hardware driver is constructed as a two-layered system to facilitate adaptation to various robotic hardware systems. A series of effective schemes for software fault detection, fault anticipation and fault termination are accomplished to improve run-time safety. The system is implemented cost-effectively on a QNX real-time operating system (RTOS) based system with a complete PC architecture, and experimentally validated successfully on an experimental dual-arm test-bed. The results indicate that the architectural design and implementation are well suited for advanced application tasks.

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A real-time control system for a mobile dexterous 7 DOF arm

Cited by 10 publications

References 9 publications

The Next Generation Munitions Handler Prototype Acquisition Campaign: Targets & Courses of Action

The Next Generation Munitions Handler Prototype Acquisition Campaign: Targets & Courses of Action

Task Lines and Motion Guides

Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation

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