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Proceedings Paper

Teleoperation of a virtual robot using an industrial CORBA-based control architecture
Author(s): Christian Schaefer; Angelica de Antonio; Jose A. Clavijo; Miguel Jose Segarra; Ricardo Sanz
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Paper Abstract

Teleoperated systems are becoming more and more complex. The integration of simulations, operator interfaces, different control levels and hardware as well as increasing real-time requirements are challenging. This paper presents an approach to cope with these demands applying methods and paradigms of large-scale industrial control. The first part of the paper deals with the integrated control architecture (ICa), that is designed as a framework for the development of distributed control systems. Using ICa each component of the teleoperated system is implemented as an independent agent, that uses the ICa broker as an object bus to communicate with the rest of the agent community. In the second part the teleoperated system is described. It consists of a simulation of a 7 degree of freedom, anthropomorphic manipulator, a control agent and a master system to teleoperate it. Finally some experiments are carried out that demonstrate the performance and the future potential of the applied control architecture in the development of teleoperated systems.

Paper Details

Date Published: 8 November 1999
PDF: 12 pages
Proc. SPIE 3840, Telemanipulator and Telepresence Technologies VI, (8 November 1999); doi: 10.1117/12.369271
Show Author Affiliations
Christian Schaefer, Univ. Politecnica de Madrid (Spain)
Angelica de Antonio, SCILabs. Ingenieros (Spain)
Jose A. Clavijo, Univ. Politecnica de Madrid (Spain)
Miguel Jose Segarra, Univ. Politecnica de Madrid (Spain)
Ricardo Sanz, Univ. Politecnica de Madrid (Spain)

Published in SPIE Proceedings Vol. 3840:
Telemanipulator and Telepresence Technologies VI
Matthew R. Stein, Editor(s)

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