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1 Zeszyty Naukowe. Elektryka / Politechnika Śląska

1 2001

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Control and sensoric subsystem of mechatronics system OMR III

Singule V., Lojek O., Houska P.

Zeszyty Naukowe. Elektryka / Politechnika Śląska

2001

z. 177

195-202

The robot is able to make plane movements in the surroundings using a locomotive mechanism including planned interaction with the variable surrounding environment. The OMR III control system has been divided into three levels. The external subsystem represents the top level of control. The operator can control the robot through it in case of the artificial intelligence algorithms are not able to solve the given situation. The planning subsystem creates a higher level of control and it solves localisation of the mobile robot during global navigation. The lowest level of control consists of the control subsytem of locomotion. The individual levels are inter-connected into a distributed network. The sensorial subsystem consists of two functionally different groups of sensors. The internal sensors provide information about changes of inner conditions of the robot. The external sensors provide information about changes of the external environment of the robot.