The Unified Telerobotics Architecture Project (UTAP) proposes a standard control architecture with well-defined interfaces as a means of promoting software reusability and component-based controller technology. Sensor-integration is a primary consideration within a telerobotic standard since teleoperation (or shared) control depends on integrating sensor feedback with motion control. A major hurdle to realizing a standard sensor-integration model involves the provision for ranges of capability, in effect, scaling the interfaces. Another problem is the need within UTAP applications to allow hybrid control, in which the system must accommodate position control in some axes as well as integrate force-sensing with motion control in other axes. This paper will examine the role of sensors as they apply to the UTAP standard telerobotic control architectures.
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