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A Real-Time, Hierarchical, Sensor-Based Robotic System Architecture

Authors
  • Hebert, Timothy1
  • Valavanis, Kimon1
  • Kolluru, Ramesh1
  • 1 A-CIM Center University of Southwestern Louisiana, Robotics and Automation Laboratory (RAL) CACS and, Lafayette, LA, 70504, U.S.A , Lafayette
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Jan 01, 1998
Volume
21
Issue
1
Pages
1–27
Identifiers
DOI: 10.1023/A:1007966024367
Source
Springer Nature
Keywords
License
Yellow

Abstract

A robotic system architecture is presented and its real-time performance, when used to control a robotic gripper system for deformation-free handling of limp material, is evaluated. A major problem to be overcome has been the integrability and compatibility issues between various components of the developed system. The software and hardware protocols and interfaces developed to control and coordinate the subsystem operations and interactions are presented. The performance of the developed real-time, hierarchical, sensor-based robotic system architecture is found to meet and satisfy a set of system operational constraints and demands as dictated by the industry.

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