Title :
The MRROC++ system
Author_Institution :
Inst. of Control & Comput. Eng., Warsaw Univ. of Technol., Poland
Abstract :
The paper proposes a structure for open, hierarchical, multi-device controllers. The proposed structure takes into account that the system may contain several robots of different type, a certain number of cooperating devices, diverse sensors and also the fact that the task, the system has to execute, and the number and type of its components may vary considerably over time. The concept has been verified by designing a controller for a prototype RNT robot and an ASEA IRb-6 type robot. The flexibility of the system is due to the software, so the programming aspect is treated in detail.
Keywords :
"Robot sensing systems","Computer languages","Robot control","Sensor systems","Hardware","Proposals","Size control","Modular construction","Automatic control","Control systems"
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo ´99. Proceedings of the First Workshop on
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791067
