Hostname: page-component-89b8bd64d-b5k59 Total loading time: 0 Render date: 2026-05-08T03:27:57.832Z Has data issue: false hasContentIssue false
  • English
  • Français

The Track: Technion Robot And Controller Kit

Published online by Cambridge University Press:  09 March 2009

David Bar-On ,
Shaul Gutman  and
Amos Israeli
David Bar-On
Affiliation:
Department of Electrical Engineering and Department of Mechanical Engineering,
Shaul Gutman
Affiliation:
Department of Mechanical Engineering
Amos Israeli
Affiliation:
Department of Electrical Engineering, Technion Israel Institute of Technology, Haifa 32000, (Israel)
Get access Rights & Permissions [Opens in a new window]

Summary

A modular hierarchical model for controlling robots is presented. This model is targeted mainly for research and development; it enables researchers to concentrate on a certain specific task of robotics, while using existing building blocks for the rest of their applications. The presentation begins by discussing the problems with which researchers and engineers of robotics are faced whenever trying to use existing commercial robots. Based on this discussion we propose a new general model for robot control to be referred as TERM (TEchnion Robotic Model). The viability of the new model is demonstrated by implementing a general purpose robot controller.

Information

Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 119 - 128
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Nagy, P.V., The PUMA 560 industrial Robot, Inside-out ROBOTS 12 Conference Proceedings Detroit(June, 1988) pp. 4.67-4.78.Google Scholar
Anderson, R.L., A PING-PONG Robot Player AT&T Bell Laboratories (MIT Press, Cambridge Mass, 1988)Google Scholar
Borenstein, J., Development of a Triaxial-Force Sensor for the PUMA-600 Industrial robot M.Sc. Thesis (Technion I.I.T, Haifa, Israel., 1983).Google Scholar
Bihn, D. & Hsia, T.C. Steve, Universal Six Joint Robot Controller, IEEE Control System Magazine 31–36 (Feb. 1988).CrossRefGoogle Scholar
Bihn, D., Universal Six Joint Robot Controller M.Sc. Thesis (University of California Davis, June 1986).Google Scholar
Nagy, P.V., A New Approach to Operating a PUMA Manipulator Without Using VAL ROBOTS 12 Conference Proceedings-Detroit(June, 1988) pp. 4.81-4.93.Google Scholar
Graham, J.H., Special Computer Architectures for Robotics, IEEE Transactions on Robotics 543–554 (October, 1989).CrossRefGoogle Scholar
Leung, S.S. & Shanblatt, M.A., Computer Architecture Design For Robotics IEEE Int. Conference on Robotics and Automation(1988) pp. 453–456.Google Scholar
Albus, J.S., McCain, H.G. & Lumia, R. NASA/NBS Standard Reference model for Telerobot Control System Architecture NBS Technical Note 1235 (1987)Google Scholar
Bar-On, D., Gutman, S. & Israeli, A., Modular Control of Robots presented at the first Israel Conference on Control, Tel-Aviv (May 1990) pp. A5–A10.Google Scholar
Bar-On, D., A Parallel Multi-processor Controller for Robots M.Sc. Thesis (Technion I.I.T., Haifa, Israel, 03, 1990).Google Scholar
Unimation Inc., PUMA Robot Technical Manual (1978).Google Scholar
Bar-On, D., Gutman, S. & Israeli, A., The TRACK IEEE International Conference on Robotics and Automation(1991) pp. 332–337.Google Scholar