Publications Details

Defining a controller architecture for the Long-Reach Manipulator

Ford, W.E.

To draft a procurement specification for the Long-Reach Manipulator (LRM), the benefits and limitations of the various robotic control system architectures available need to be determined. This report identifies and describes the advantages and potential disadvantages of using an open control system versus a closed (or proprietary) system, focusing on integration of interfaces for sensors, end effectors, tooling, and operator interfaces. In addition, the various controls methodologies of several recent systems are described. Finally, the reasons behind the recommendation to procure an open control system are discussed.