Open Distributed Control Architecture for a PUMA 560 Manipulator

Discrete Event Systems, Petri net Models of Robotic Tasks, Task Supervision under partial and/or noisy information

Within the scope of this project, an open control architecture for a PUMA 560 is being developed. The current status of the project allows distributed control of the arm, based on a local Ethernet PC network. A central node runs, under Windows 98, a Petri net executor that supervises task execution. Other nodes are now ready to run primitive task servers under Linux. Communication is supported on the TCP/IP protocol.

Reference:
URL:
http://lci.isr.ist.utl.pt/projects/puma/
ID: 54
From: 01-1994
To: 01-2000
Funders: 
  • FCT

Intelligent Robots and Systems Group (IRSg)

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