A parallel control architecture for industrial robot cells

  • 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.

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Metadaten
Author:Dominik Henrich, Frank Abegg, Christian Wurll, Heinz Wörn
URN (permanent link):urn:nbn:de:hbz:386-kluedo-9683
Document Type:Article
Language of publication:English
Year of Completion:1998
Year of Publication:1998
Publishing Institute:Technische Universität Kaiserslautern
Tag:AG-RESY ; HANDFLEX ; PARO ; distributed processing; industrial robots ; parallel processing ; robot control architectures
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:004 Datenverarbeitung; Informatik
Collections:AG RESY

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