DocumentCode :
438845
Title :
Universal communication architecture for high-dynamic robot systems using QNX
Author :
Kohn, Nnamdi ; Varchmin, J. Uew ; Steiner, Jens ; Goltz, Ursula
Author_Institution :
Inst. of Electr. Meas. & Fundamental Electr. Eng., Technische Univ. Braunschweig, Germany
Volume :
1
fYear :
2004
fDate :
6-9 Dec. 2004
Firstpage :
205
Abstract :
In this paper a new flexible communication architecture for high dynamic robot applications is presented. The motivation for the development is founded on the special requirements imposed by PKMs (parallel kinematic machines). PKMs obtain a different kinematic structure compared to their serial counterparts based on closed kinematic chains. This structural feature leads to a number of favorable properties as high structural stiffness, high accuracy and low moved masses resulting in high payload to robot mass ratio. This paper also introduces the structure and application of a new communication architecture matching with the needs of high-dynamic parallel robot systems.
Keywords :
computer communications software; control engineering computing; parallel architectures; parallel machines; robot dynamics; closed kinematic chains; flexible communication architecture; high-dynamic robot systems; parallel kinematic machines; parallel robot systems; robot mass ratio; universal communication architecture; Centralized control; Communication system control; Computer architecture; Dynamic programming; Electrical equipment industry; Electronic mail; Kinematics; Middleware; Robotic assembly; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
Type :
conf
DOI :
10.1109/ICARCV.2004.1468823
Filename :
1468823
Link To Document :
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