MARC Record from University of Toronto

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001 AAIMR21291
005 20070905142527.5
008 070905s2006 onc|||||||||||||| ||eng d
020 $a9780494212912
039 $feh
100 1 $aWang, Daqing.
245 10 $aDevelopment of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators.
260 $c2006.
300 $a128 leaves.
500 $aSource: Masters Abstracts International, Volume: 45-03, page: 1662.
502 $aThesis (M.A.Sc.)--University of Toronto, 2006.
506 $aElectronic version licensed for access by U. of T. users.
520 $aArchitecture forms the backbone of complete robotic control systems, and so should be fully studied before the system is built. The major purpose of this thesis is to provide insight and exclusive discussion on control system architecture of modular re-configurable robot manipulators, and thus led to further research into architectural requirements, tasks, specifications, structure, communication bus, and prototype implementation and test work.The hybrid architecture proposed here combines the merits of centralized and distributed controls. It has a centralized, supervisor-level controller and distributed, module-level controllers. Between them is the communication level for information exchange. The open, self-contained modular design and multiple control modes provide solid support for reconfigurability, and reactive control is introduced for first time into the manipulator control system architecture. The key factors in selecting communication buses and real-time operation systems are discussed. The architecture was tested on two MRR prototypes, and the results confirmed its validity.
590 $aROBARTS MICROTEXT copy on microfiche.$5CaOTU
653 $aEngineering, Robotics.
856 41 $uhttp://link.library.utoronto.ca/eir/EIRdetail.cfm?Resources__ID=450564&T=F$yConnect to resource
949 $atheses masters$wALPHANUM$c1$i6202746-1001$j2$lMICROTEXT$mMEDIA_COMM$rN$sY$tMICROFORM$u11/9/2007
949 $aOnline resource 450564$wASIS$c1$i6202746-2001$lONLINE$mE_RESOURCE$rY$sY$tE_RESOURCE$u11/9/2007