Concurrent simulation and control of robot tasks

Author

Mehlhaus, Ulrich

Author_Institution

Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany

Volume

2

fYear

1994

fDate

4-7 Jan. 1994

Firstpage

553

Lastpage

562

Abstract

In the area of telerobotics, where remote systems are to be controlled, it is helpful to plan subsequent operations based on as much relevant data as possible. The simulation of the remote system, executed in parallel, can provide additional information, otherwise difficult or impossible to retrieve from sensor feedback. In this paper, the integrated DiSCUS environment (Distributed Simulation and Control in a Unix System) is presented, which is used for the simulation and the control of a small assembly cell. All (physical and logical) components are represented as stand-alone programs, as tasks. These tasks are distributed over a workstation network, so that "true" parallelism can be achieved.<>

Keywords

Unix; control system analysis computing; digital simulation; distributed algorithms; distributed control; planning (artificial intelligence); robot programming; telecontrol; Unix system; assembly cell; concurrent simulation; distributed control; distributed simulation; integrated DiSCUS environment; parallel simulation; parallelism; remote systems; robot task control; stand-alone programs; subsequent operations planning; telerobotics; workstation network;

fLanguage

English

Publisher

ieee

Conference_Titel

System Sciences, 1994. Proceedings of the Twenty-Seventh Hawaii International Conference on

Conference_Location

Wailea, HI, USA

Print_ISBN

0-8186-5090-7

Type

conf

DOI

10.1109/HICSS.1994.323228

Filename

323228