TY - JOUR 
A1 - Ortiz Zaragoza, Francisco José
AU - Losilla López, Fernando
AU - Rodríguez, David
AU - Ortega Ortega, Noelia
T1 - An implemetation of a teleoperated robot control architecture on a PLC and field-bus based plarform
Y1 - 2005
UR - http://hdl.handle.net/10317/468
AB - 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.
KW - Arquitectura
KW - Controlador Lógico Programable
KW - Robot
KW - Teleoperación
KW - Architecture
KW - Tecnología Electrónica
KW - Programmable Logic Controller
KW - Field-Bus
KW - Teleoperation
KW - Robot
LA - eng
ER -