Autonome Mobile Systeme 1995 pp 250-258 | Cite as
Verteilte Robotersteuerung mit strukturadaptiven Steuerungsarchitekturen
Conference paper
Zusammenfassung
In diesem Beitrag wird das Konzept der strukturadaptiven Steuerungs-architekuren vorgestellt, mit dem dynamische Veründerungen des Informations- und des Steuerflusses zur Laufzeit vorgenommen werden können, um situationsabhängig hierarchische oder verhaltensorientierte Steuerstrukturen zu erzeugen. Unterstützt wird das Konzept durch einen speziellen Echtzeit-Roboter-Betriebs-systemkern. Angewendet wurde es bei der Implementierung von Montagestrategien auf mobilen Miniaturmanipulatoren.
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© Springer-Verlag Berlin Heidelberg 1995