Development of a modular integrated control architecture for flexible manipulators. Final report

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In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of ... continued below

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8 p.

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Burks, B.L. & Battiston, G. December 8, 1994.

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Description

In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford.

Physical Description

8 p.

Notes

INIS; OSTI as DE96000762

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  • Other Information: PBD: 8 Dec 1994

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  • Other: DE96000762
  • Report No.: DOE/OR/21400--T482
  • Grant Number: AC05-84OR21400
  • DOI: 10.2172/113757 | External Link
  • Office of Scientific & Technical Information Report Number: 113757
  • Archival Resource Key: ark:/67531/metadc619558

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • December 8, 1994

Added to The UNT Digital Library

  • June 16, 2015, 7:43 a.m.

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  • Jan. 19, 2016, 12:41 p.m.

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Burks, B.L. & Battiston, G. Development of a modular integrated control architecture for flexible manipulators. Final report, report, December 8, 1994; Tennessee. (digital.library.unt.edu/ark:/67531/metadc619558/: accessed September 24, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.