A layered architectural component model service teleoperated robots
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Ortiz Zaragoza, Francisco José; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Sánchez Palma, PedroGrupo de investigación
División de Sistemas e Ingeniería Electrónica (DSIE)Área de conocimiento
Tecnología ElectrónicaFecha de publicación
2004-11-15Cita bibliográfica
ORTIZ ZARAGOZA, Francisco José et al. A layered architectural component model service teleoperated robots. En: Jornadas de Ingeniería del Software y Bases de Datos. (IX: 2004: Málaga)Palabras clave
Aproximación de componentes de orientaciónSoftware architecture
Robot teleoperation
Oriented component approach
Arquitectura de software
Robot de teleoperación
Resumen
The teleoperated robots are used for performing works that human
operators can not carry out due to the very nature of their tasks or the hostile
nature of the working environment. Though many control architectures have
been defined for developing such kind of systems and reuse common components, none of them have reached all its objectives due to the great variability among systems behaviors. The purpose of this paper is to present a new architectural approach for the development of these systems that takes into
account the current advances in robotic architectures as well as the componentoriented approach. The described architectural approach provides a common
framework for developing robotized systems with very different behaviors 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 an environmentally friendly cleaning of
hull-ship ...
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