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.
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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.
Item URL in elib: | https://elib.dlr.de/73218/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||
Title: | The Computing and Communication Architecture of the DLR Hand Arm System | ||||||||||||||||||
Authors: |
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Date: | September 2011 | ||||||||||||||||||
Journal or Publication Title: | Proccedings IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||
Open Access: | No | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
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 System Technology | ||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||
DLR - Research theme (Project): | R - RMC - Mechatronik und Telerobotik (old) | ||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||
Deposited By: | Jörg, Stefan | ||||||||||||||||||
Deposited On: | 20 Jan 2012 11:30 | ||||||||||||||||||
Last Modified: | 20 Jan 2012 11:30 |
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