The Implementation of a Highly Configurable Control Standard in the Development of a Robotics Platform for the Inspection of Confined Spaces

Abstract

This paper describes a general-purpose control standard and demonstrates its implementation as part of a controller-effector assembly. It elaborates on the specific layers on which the standard is defined: an adaptive control structure, a data transmission protocol and its corresponding instruction set. The aforementioned effector component consists of a reduced form factor robotics platform capable of remote controlled movement and optical inspection.