Details
| Original language | English |
|---|---|
| Title of host publication | 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008 |
| Pages | 1441-1450 |
| Number of pages | 10 |
| Edition | PART B |
| Publication status | Published - 23 Nov 2009 |
| Externally published | Yes |
| Event | 2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008 - New York City, NY, United States Duration: 3 Aug 2008 → 6 Aug 2008 |
Publication series
| Name | 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008 |
|---|---|
| Number | PART B |
| Volume | 3 |
Abstract
Maintainability, extendibility and reusability of components in the design of robot control architectures is a major challenge. Parallel kinematic robots feature a wide variety of structures and applications. They are subject to easy reconfiguration because of the passive structure limbs. This class of robots requires more extensive calculations in their control laws than serial manipulators. During complex motion tasks, such as the ones required in assembly sequences, the algorithmic load may also vary over time. However, no generic control approach exists in order to reduce the complexity of control design for these kind of robots. In this paper the authors introduce an architecture for handling and assembly applications featuring self-management techniques as an approach to tackle these problems. The existing architecture features a modular and layered design. Concepts of self-management and self-optimization applied to this architecture are outlined. These properties are realized by the integration of self-managers within crucial system components. The mechanisms are extended for a future distributed version of the architecture. Real-time properties are guaranteed by an online formal analysis that verifies planned adaptations before realizing them.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computational Theory and Mathematics
- Engineering(all)
- Industrial and Manufacturing Engineering
- Engineering(all)
- Mechanical Engineering
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2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008. PART B. ed. 2009. p. 1441-1450 (2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008; Vol. 3, No. PART B).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Self-management in a control architecture for parallel kinematic robots
AU - Maaß, Jochen
AU - Steiner, Jens
AU - Amado, Ana
AU - Michaela, Huhn
AU - Raatz, Annika
AU - Hesselbach, Jürgen
PY - 2009/11/23
Y1 - 2009/11/23
N2 - Maintainability, extendibility and reusability of components in the design of robot control architectures is a major challenge. Parallel kinematic robots feature a wide variety of structures and applications. They are subject to easy reconfiguration because of the passive structure limbs. This class of robots requires more extensive calculations in their control laws than serial manipulators. During complex motion tasks, such as the ones required in assembly sequences, the algorithmic load may also vary over time. However, no generic control approach exists in order to reduce the complexity of control design for these kind of robots. In this paper the authors introduce an architecture for handling and assembly applications featuring self-management techniques as an approach to tackle these problems. The existing architecture features a modular and layered design. Concepts of self-management and self-optimization applied to this architecture are outlined. These properties are realized by the integration of self-managers within crucial system components. The mechanisms are extended for a future distributed version of the architecture. Real-time properties are guaranteed by an online formal analysis that verifies planned adaptations before realizing them.
AB - Maintainability, extendibility and reusability of components in the design of robot control architectures is a major challenge. Parallel kinematic robots feature a wide variety of structures and applications. They are subject to easy reconfiguration because of the passive structure limbs. This class of robots requires more extensive calculations in their control laws than serial manipulators. During complex motion tasks, such as the ones required in assembly sequences, the algorithmic load may also vary over time. However, no generic control approach exists in order to reduce the complexity of control design for these kind of robots. In this paper the authors introduce an architecture for handling and assembly applications featuring self-management techniques as an approach to tackle these problems. The existing architecture features a modular and layered design. Concepts of self-management and self-optimization applied to this architecture are outlined. These properties are realized by the integration of self-managers within crucial system components. The mechanisms are extended for a future distributed version of the architecture. Real-time properties are guaranteed by an online formal analysis that verifies planned adaptations before realizing them.
UR - http://www.scopus.com/inward/record.url?scp=70349256019&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:70349256019
SN - 9780791843253
T3 - 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
SP - 1441
EP - 1450
BT - 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
T2 - 2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
Y2 - 3 August 2008 through 6 August 2008
ER -