Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 |
| Seiten | 4626-4631 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 24 Dez. 2012 |
| Extern publiziert | Ja |
| Veranstaltung | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Dauer: 7 Okt. 2012 → 12 Okt. 2012 |
Publikationsreihe
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| ISSN (Print) | 2153-0858 |
| ISSN (elektronisch) | 2153-0866 |
Abstract
Miniaturized robots become more and more common for handling and assembly of miniaturized products. This miniaturization usually refers to the actuators, the kinematics and the sensors, but also the control electronics and their computational resources are affected. Facing these restrictions, the present article discusses patterns of robot control software that can be transferred from architectures proposed previously to microcontroller platforms. It is proposed to organize the software components according to two aspects: timing context and organizational context. Results from a case study are reported, where the architecture was implemented for a parallel kinematic five-bar robot. This study concludes that the underlying patterns help to implement control software of miniaturized robots in handling and assembly efficiently, even if hardware resources are limited.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Software
- Informatik (insg.)
- Maschinelles Sehen und Mustererkennung
- Informatik (insg.)
- Angewandte Informatik
Zitieren
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- Harvard
- Apa
- Vancouver
- BibTex
- RIS
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. S. 4626-4631 6385593 (IEEE International Conference on Intelligent Robots and Systems).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - A generic software architecture for control of parallel kinematics designed for reduced computing hardware
AU - Dietrich, Franz
AU - Gruner, Sven
AU - Raatz, Annika
PY - 2012/12/24
Y1 - 2012/12/24
N2 - Miniaturized robots become more and more common for handling and assembly of miniaturized products. This miniaturization usually refers to the actuators, the kinematics and the sensors, but also the control electronics and their computational resources are affected. Facing these restrictions, the present article discusses patterns of robot control software that can be transferred from architectures proposed previously to microcontroller platforms. It is proposed to organize the software components according to two aspects: timing context and organizational context. Results from a case study are reported, where the architecture was implemented for a parallel kinematic five-bar robot. This study concludes that the underlying patterns help to implement control software of miniaturized robots in handling and assembly efficiently, even if hardware resources are limited.
AB - Miniaturized robots become more and more common for handling and assembly of miniaturized products. This miniaturization usually refers to the actuators, the kinematics and the sensors, but also the control electronics and their computational resources are affected. Facing these restrictions, the present article discusses patterns of robot control software that can be transferred from architectures proposed previously to microcontroller platforms. It is proposed to organize the software components according to two aspects: timing context and organizational context. Results from a case study are reported, where the architecture was implemented for a parallel kinematic five-bar robot. This study concludes that the underlying patterns help to implement control software of miniaturized robots in handling and assembly efficiently, even if hardware resources are limited.
UR - http://www.scopus.com/inward/record.url?scp=84872285561&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385593
DO - 10.1109/IROS.2012.6385593
M3 - Conference contribution
AN - SCOPUS:84872285561
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4626
EP - 4631
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -