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Proceedings Paper

Integration of sensor feedback and teleoperation into an open-architecture standard
Author(s): John L. Michaloski; Paul G. Backes; Ronald Lumia
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Paper Abstract

The Unified Telerobotics Architecture Project (UTAP) proposes a standard control architecture with well-defined interfaces as a means of promoting software reusability and component-based controller technology. Sensor-integration is a primary consideration within a telerobotic standard since teleoperation (or shared) control depends on integrating sensor feedback with motion control. A major hurdle to realizing a standard sensor-integration model involves the provision for ranges of capability, in effect, scaling the interfaces. Another problem is the need within UTAP applications to allow hybrid control, in which the system must accommodate position control in some axes as well as integrate force-sensing with motion control in other axes. This paper will examine the role of sensors as they apply to the UTAP standard telerobotic control architectures.

Paper Details

Date Published: 15 September 1995
PDF: 12 pages
Proc. SPIE 2589, Sensor Fusion and Networked Robotics VIII, (15 September 1995); doi: 10.1117/12.220959
Show Author Affiliations
John L. Michaloski, National Institute of Standards and Technology (United States)
Paul G. Backes, Jet Propulsion Lab. (United States)
Ronald Lumia, Univ. of New Mexico (United States)

Published in SPIE Proceedings Vol. 2589:
Sensor Fusion and Networked Robotics VIII
Paul S. Schenker; Gerard T. McKee, Editor(s)

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