Integration of sensor feedback and teleoperation into an open-architecture standard

John L. Michaloski; Paul G. Backes; Ronald Lumia

doi:10.1117/12.220959

15 September 1995 Integration of sensor feedback and teleoperation into an open-architecture standard

John L. Michaloski, Paul G. Backes, Ronald Lumia

Proceedings Volume 2589, Sensor Fusion and Networked Robotics VIII; (1995) https://doi.org/10.1117/12.220959
Event: Photonics East '95, 1995, Philadelphia, PA, United States

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.

Citation Download Citation

John L. Michaloski, Paul G. Backes, and Ronald Lumia "Integration of sensor feedback and teleoperation into an open-architecture standard", Proc. SPIE 2589, Sensor Fusion and Networked Robotics VIII, (15 September 1995); https://doi.org/10.1117/12.220959

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available