Modular architecture for robotics and teleoperation

Details Modular architecture for robotics and teleoperation Modular architecture for robotics and teleoperation

1995-05-01

1996-12-03

Downs, Robert W.

395 99, G06F 1500

Patent

active

055816665

ABSTRACT:
Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

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