%0 Journal Article 
%A Ortiz Zaragoza, Francisco José
%A Losilla López, Fernando
%A Rodríguez, David
%A Ortega Ortega, Noelia
%T An implemetation of a teleoperated robot control architecture on a PLC and field-bus based plarform
%D 2005
%U http://hdl.handle.net/10317/468
%X Teleoperated robots are used to perform hazardous tasks that human operators
cannot carry out. The purpose of this paper is to present a new architecture (ACROSET)
for the development of these systems that takes into account the current advances in
robotic architectures while adopting the component-oriented approach. ACROSET
provides a common framework for developing this kind of robotized systems and for
integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of robots, teleoperated cranes and vehicles
which perform environmentally friendly cleaning of ship-hull surfaces (the EFTCoR
project). This paper summarises the features of this project and describes the
implementation of ACROSET on a hardware platform based on a PLC (Programmed
Logic Controller) SIEMENS SIMATIC S7-300 and the Field-Bus PROFIBUS DP.
%K Arquitectura
%K Controlador Lógico Programable
%K Robot
%K Teleoperación
%K Architecture
%K Tecnología Electrónica
%K Programmable Logic Controller
%K Field-Bus
%K Teleoperation
%K Robot
%~ GOEDOC, SUB GOETTINGEN