scholarly journals Robotic systems with neuromuscular control system dynamics.

1988 ◽  
Vol 6 (3) ◽  
pp. 235-239
Author(s):  
Kenzo AKAZAWA ◽  
Katsuhiko FUJII
1994 ◽  
pp. 9-21
Author(s):  
S. Ariffin ◽  
R.H. Weston ◽  
R. Harrison

Research is described which is leading to the specification and development of a motion simulation and design environment for modular robotic systems which enables the implementation of widely applicable software processes for machine control. Current investigation is focused on defining models of application tasks in modular robotic systems. This work is based on the Real-time Control System (RCS) reference architecture proposed by researchers at the National Institute of Standards and Technology (NIST) which was designed to support motion planning and implementation. However, this architecture is modified in such a way that it supports the concept of multitasking and inter-process communication. The emphasis of work is on the hierarchical structuring of solutions, this to enable the design and control of distributed motion elements. Also discussed in this paper is a strategy for achieving sensor-based modularization of modular robotic systems in a manner which facilitates fast and efficient response to changes in the functional or environmental requirements. The paper explains how an application software architecture is unified with the open systems design approach known as Universal Machine Control (UMC), which has been devised and developed at Loughborough University to enable reuse to software and control system components.


2020 ◽  
Vol 67 (5) ◽  
pp. 3850-3859 ◽  
Author(s):  
Jing Na ◽  
Baorui Jing ◽  
Yingbo Huang ◽  
Guanbin Gao ◽  
Chao Zhang

1996 ◽  
Vol 34 (02) ◽  
pp. 34-0945-34-0945

Author(s):  
A. M. Romanov

A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.


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