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A parallel control architecture for industrial robot cells
Dominik Henrich , Frank Abbegg , Heinz Wörn , Christian Wurll

Abstract (english)
We present a parallel control architecture for industrial robot cells. It is based on closed functional components arranged in a flat communication hierarchy. The components may be executed by different processing elements, and each component itself may run on multiple processing elements. The system is driven by the instructions of a central cell control component. We set up necessary requirements for industrial robot cells and possible parallelization levels. These are met by the suggested robot control architecture. As an example we present a robot work cell and a component for motion planning, which fits well in this concept.

Publication data

Year: 1998
Publication date: 27. May 1998
Source: 4th International Symposium on Distributed Autonomous Robotic Systems (DARS
Project: HANDFLEX , PARO
Keywords (english): distributed processing , industrial robots , parallel processing , robot control
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998e

BibTeX

@MISC{henrich1998e,
  TITLE             = "A parallel control architecture for industrial robot cells",
  AUTHOR            = "Henrich, Dominik and Abbegg, Frank and Wörn, Heinz and Wurll, Christian",
  YEAR              = "1998",
  JOURNAL           = "4th International Symposium on Distributed Autonomous Robotic Systems (DARS",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998e}",
}

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henrich1998e.A.parallel.control.architecture.for.industrial.robot.cells.djvu   105.3K   english   DJVU   download preprint
henrich1998e.A.parallel.control.architecture.for.industrial.robot.cells.pdf   88.7K   english   PDF   download preprint


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