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The spatial and logical organization of devices in an advanced industrial robot systemThis paper describes the geometrical and device organization of a robot system which is based in part upon transformations of Cartesian frames and exchangeable device tree structures. It discusses coordinate frame transformations, geometrical device representation and solution degeneracy along with the data structures which support the exchangeable logical-physical device assignments. The system, which has been implemented in a minicomputer, supports vision, force, and other sensors. It allows tasks to be instantiated with logically equivalent devices and it allows tasks to be defined relative to appropriate frames. Since these frames are, in turn, defined relative other frames this organization provides a significant simplification in task specification and a high degree of system modularity.
Document ID
19810063585
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Ruoff, C. F.
(California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)
Date Acquired
August 11, 2013
Publication Date
January 1, 1980
Subject Category
Cybernetics
Meeting Information
Meeting: International Computer Technology Conference on Advances in computer technology - 1980
Location: San Francisco, CA
Start Date: August 12, 1980
End Date: August 15, 1980
Accession Number
81A47989
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Other

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