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Article: Distributed control architecture for a sensor-driven dual arm system

TitleDistributed control architecture for a sensor-driven dual arm system
Authors
Issue Date1994
Citation
Mechatronics, 1994, v. 4, n. 5, p. 481-502 How to Cite?
AbstractA distributed computing and control architecture for sensor-based control of a dual arm system is described. The system comprises of two PUMA 560 robots with state-of-the-art joint-level motion controllers with accurate joint position and velocity measurement, an accurate joint calibration system, and six-axis wrist force/torque sensors with optical fiber communication with the controller. A Silicon Graphics workstation, through a shared memory interface with the joint-level controllers, provides a task-level command and control capability. A computer vision system, with two CCD (Charge-Coupled Device) cameras, is also interfaced to the workstation. A variety of control schemes may be implemented on this system. A servo rate of 1000 Hz, without interpolation, has been achieved for task-level servo schemes with force feedback. The experimental results presented here demonstrate the performance capabilities of the system. © 1994.
Persistent Identifierhttp://hdl.handle.net/10722/212877
ISSN
2015 Impact Factor: 1.871
2015 SCImago Journal Rankings: 1.019

 

DC FieldValueLanguage
dc.contributor.authorTarn, T. J.-
dc.contributor.authorBejczy, A. K.-
dc.contributor.authorXi, Ning-
dc.contributor.authorRamadorai, A. K.-
dc.date.accessioned2015-07-28T04:05:18Z-
dc.date.available2015-07-28T04:05:18Z-
dc.date.issued1994-
dc.identifier.citationMechatronics, 1994, v. 4, n. 5, p. 481-502-
dc.identifier.issn0957-4158-
dc.identifier.urihttp://hdl.handle.net/10722/212877-
dc.description.abstractA distributed computing and control architecture for sensor-based control of a dual arm system is described. The system comprises of two PUMA 560 robots with state-of-the-art joint-level motion controllers with accurate joint position and velocity measurement, an accurate joint calibration system, and six-axis wrist force/torque sensors with optical fiber communication with the controller. A Silicon Graphics workstation, through a shared memory interface with the joint-level controllers, provides a task-level command and control capability. A computer vision system, with two CCD (Charge-Coupled Device) cameras, is also interfaced to the workstation. A variety of control schemes may be implemented on this system. A servo rate of 1000 Hz, without interpolation, has been achieved for task-level servo schemes with force feedback. The experimental results presented here demonstrate the performance capabilities of the system. © 1994.-
dc.languageeng-
dc.relation.ispartofMechatronics-
dc.titleDistributed control architecture for a sensor-driven dual arm system-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1016/0957-4158(94)90012-4-
dc.identifier.scopuseid_2-s2.0-33747609409-
dc.identifier.volume4-
dc.identifier.issue5-
dc.identifier.spage481-
dc.identifier.epage502-

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