A flexible architecture for telemanipulator control

摘要

Many automation tasks require human intervention and guidance. A control system architecture combining work units and master units by software interfaces is described. OSCAR is incorporated as a universal transform service. It is regarding dynamic properties of work units. Implementing the transform at the master site eases integration of new robot types. The dynamic behaviour when crossing singular points is compared with a closed form standard transform. The control system has also been applied in medical manipulator systems.