Reference architecture for robot teleoperation: development details and practical use
Author
Álvarez Torres, María Bárbara; Iborra García, Andrés José; Alonso Muñoz, Alejandro; Puente Alfaro, Juan Antonio de laKnowledge Area
Tecnología ElectrónicaSponsors
This work has been partially supported by the Spanish Government Programmes for Research in Electrical Power (project PIE-041049), and for Technological Actuation in Industry (PAUTA projects 753/ 95 y 53/96). TRON is supported inside EUREKA– MAINE program (EU1565).Publication date
2001-04Publisher
ElsevierBibliographic Citation
ÁLVAREZ, Bárbara, IBORRA, Andrés, ALONSO, Alejandro, PUENTE, Juan Antonio de la . Reference architecture for robot teleoperation: development details and practical use. Control Engineering Practice, 9 (4): 395-402, 2001. ISSN 0967-0661Keywords
Arquitectura de softwareControl de robot
Sistema a tiempo real
Teleoperación
Ingeniería de software
Software architecture
Robot control
Real time system
Teleoperation
Software engineering
Abstract
The need to avoid redundant efforts in software development has been recognized
for a long time. Currently, work is focused on the generation of products that are designed to be reused. A reference architecture for robot teleoperation systems has been developed using the domain-engineering process and certain architectural patterns. The architecture has
been applied successfully to the development of different teleoperation platforms used in the maintenance activities of nuclear power plants. In particular, this paper presents how the reference architecture has been implemented in different systems, such as the Remotely Operated Service Arm (ROSA), the Teleoperated and Robotized System for Maintenance Operation in Nuclear Power Plants Vessels (TRON) and the Inspection Retrieving Vehicle (IRV).
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