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The Computing and Communication Architecture of the DLR Hand Arm System

Jörg, Stefan and Nickl, Mathias and Nothhelfer, Alexander and Bahls, Thomas and Hirzinger, Gerd (2011) The Computing and Communication Architecture of the DLR Hand Arm System. In: Proccedings IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1055-1062. IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems, 25.-30. Sep 2011, San Francisco. ISBN 978-1-61284-455-8.

Full text not available from this repository.

Official URL: http://www.iros2011.org/

Abstract

The computing and communication architecture of the DLR Hand Arm System is presented. Its task is to operate the robot’s 52 motors and 430 sensors. Despite that complexity, the main design goal for it is to create a flexible architecture that enables high-performance feedback control with cycles beyond 1kHz. Flexibility is achieved through a hierarchical net of computing nodes that goes from commercial-of-the-shelf hosts down to the physical interfaces of sensors and actuators. The concept of a Hardware Abstraction Layer (HAL) provides a convenient high-level interface to the entire robotic hardware. First experiments with prototypical control applications, featuring 100 kHz and 3 kHz control loops, demonstrate the performance of the architecture.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:The Computing and Communication Architecture of the DLR Hand Arm System
Authors:
AuthorsInstitution or Email of Authors
Jörg, StefanStefan.Joerg@dlr.de
Nickl, Mathiasmathias.nickl@dlr.de
Nothhelfer, Alexanderalexander.nothhelfer@dlr.de
Bahls, Thomasthomas.bahl@dlr.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:September 2011
Journal or Publication Title:Proccedings IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 1055-1062
Publisher:IEEE
ISBN:978-1-61284-455-8
Status:Published
Keywords:mechatronic architecture
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:San Francisco
Event Type:international Conference
Event Dates:25.-30. Sep 2011
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Stefan Jörg
Deposited On:20 Jan 2012 11:30
Last Modified:20 Jan 2012 11:30

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