Title :
An architecture for a network based robot control system
Author :
Kim, Young Shin ; Park, Hong Seong ; Kwon, Wook Hyun
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
This paper suggests an architecture for the robot control system that is based on a network. The main advantage of the architecture is that the weight of the control system is far lighter and the size of the control system is far smaller. In addition the cabling cost and the maintenance effort can be drastically reduced. The effect of communication latency on control is considered
Keywords :
controller area networks; field buses; industrial manipulators; cabling cost; communication latency; maintenance effort; network-based robot control system architecture; Actuators; Calibration; Communication system control; Control systems; Costs; Field buses; Robot control; Robot sensing systems; Service robots; Wiring;
Conference_Titel :
Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-5670-5
DOI :
10.1109/ETFA.1999.813084
