English  |  正體中文  |  简体中文  |  Post-Print筆數 : 27 |  Items with full text/Total items : 109953/140892 (78%)
Visitors : 46224997      Online Users : 673
RC Version 6.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
    •  Adv. Search
    Home ‧ Login ‧ Upload ‧ Help ‧ About ‧ Administer Goto mobile version
    政大機構典藏 > 資訊學院 > 資訊科學系 > 期刊論文 >  Item 140.119/75056


    Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/75056


    Title: Experimental Integration of Planning in a Distributed Control System
    Authors: Li, Tsai-yen;Gerardo, Pardo-castellote;Koga, Yoshihito;Jr, Robert H. Cannon;Latombe, Jean-claude;Schneider, Stanley A.
    李蔡彥
    Contributors: 資科系
    Date: 1993
    Issue Date: 2015-05-08 16:07:27 (UTC+8)
    Abstract: This paper describes a complete system architecture integrating planning into a two-armed robotic workcell. The system is comprised of four major components: user interface, planner, the dual-arm robot control and sensor system, and an on-line simulator. The graphical user interface provides high-level user direction. The motion planner generates complete on-line plans to carry out these directives, specifying both single and dual-armed motion and manipulation. Combined with the robot control and real-time vision, the system is capable of performing object acquisition from a moving conveyor belt as well as reacting to environmental changes on-line. The modules communicate through a novel subscription-based network data sharing system called the Network Data Delivery Service (NDDS). NDDS allows the different modules to transparently share data, and thus be distributed across different computer systems. Its stateless protocol naturally supports multiple anonymous data consumers and producers, arbitrary data types, on-line reconfiguration and error recovery. The control software is integrated within the ControlShell framework. ControlShell provides an object-oriented generic software framework for combining reusable software components into a working, complex system. This paper presents an overview of the individual system components, as well as a summary of the architecture developed to integrate the system. Much of the paper focuses on the interfaces between components.
    Relation: International Symposium on Experimental Robotics - ISER , pp. 50-61
    Data Type: article
    DOI 連結: http://dx.doi.org/10.1007/BFb0027584
    DOI: 10.1007/BFb0027584
    Appears in Collections:[資訊科學系] 期刊論文

    Files in This Item:

    File Description SizeFormat
    index.html0KbHTML21127View/Open


    All items in 政大典藏 are protected by copyright, with all rights reserved.


    社群 sharing

    著作權政策宣告 Copyright Announcement
    1.本網站之數位內容為國立政治大學所收錄之機構典藏，無償提供學術研究與公眾教育等公益性使用，惟仍請適度，合理使用本網站之內容，以尊重著作權人之權益。商業上之利用，則請先取得著作權人之授權。
    The digital content of this website is part of National Chengchi University Institutional Repository. It provides free access to academic research and public education for non-commercial use. Please utilize it in a proper and reasonable manner and respect the rights of copyright owners. For commercial use, please obtain authorization from the copyright owner in advance.

    2.本網站之製作，已盡力防止侵害著作權人之權益，如仍發現本網站之數位內容有侵害著作權人權益情事者，請權利人通知本網站維護人員(nccur@nccu.edu.tw)，維護人員將立即採取移除該數位著作等補救措施。
    NCCU Institutional Repository is made to protect the interests of copyright owners. If you believe that any material on the website infringes copyright, please contact our staff(nccur@nccu.edu.tw). We will remove the work from the repository and investigate your claim.
    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - Feedback