Development of a modular integrated control architecture for flexible manipulators. Final report | Zendy

B.L. Burks | Zendy; George Battiston | Zendy

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Development of a modular integrated control architecture for flexible manipulators. Final report

Author(s) -

B.L. Burks,

George Battiston

Publication year - 1994

Publication title -

osti oai (u.s. department of energy office of scientific and technical information)

Language(s) - English

Resource type - Reports

DOI - 10.2172/113757

Subject(s) - modular design , architecture , control system , engineering , porting , workspace , computer science , control engineering , embedded system , robot , operating system , artificial intelligence , software , electrical engineering , art , visual arts

In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford

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