{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:06:45Z","timestamp":1739077605663,"version":"3.37.0"},"reference-count":13,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6552,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1991,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The paper presents an educational system for teaching and research in robotics which consists of a manipulator, controller and a PC compatible host computer. The advanced design of host-computer user-interface software makes the system very suitable for teaching. It allows the user not only to follow the system states but also to change the control structure on-line. In the first part of this paper the architecture of the system, window-oriented user interface, specially designed robot language and several build-in students lessons will be described as well as the data acquisition system and advanced graphical capabilities.<\/jats:p><jats:p>In the second part of this paper the executive controller architecture is described. Besides the manipulator control function and IO operations, the controller supports communication with the host-computer. The controller is programmable, i.e. it executes various tasks within user-defined and build-in students lessons. By the use of simple host-computer commands the controller can execute various algorithms both for trajectory generation and dynamically compensated digital servo control. The dynamic model components in the feed-forward and feed-back control loop can be selectively included and changed during the manipulator's motion. Experimental results with a 4-link educational robot are presented.<\/jats:p>","DOI":"10.1017\/s0263574700010298","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:19:46Z","timestamp":1236691186000},"page":"235-245","source":"Crossref","is-referenced-by-count":12,"title":["A Distributed PC-Based Control System for Education in Robotics"],"prefix":"10.1017","volume":"9","author":[{"given":"N.","family":"Kir\u0107anski","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dj.","family":"Lekovi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Bori\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Vukobratovi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Djurovi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"N.","family":"Djurovi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"T.","family":"Petrovi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B.","family":"Karan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D.","family":"Urosevi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"volume-title":"Computer Controlled Systems \u2013 Theory and Design","year":"1984","author":"Astrom","key":"S0263574700010298_ref013"},{"key":"S0263574700010298_ref011","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700004677"},{"volume-title":"Real \u2013 Time Dynamics of Manipulation Robots","year":"1984","author":"Vukobratovi","key":"S0263574700010298_ref010"},{"key":"S0263574700010298_ref008","doi-asserted-by":"crossref","unstructured":"8. Salkind L. , \u201cThe SAGE Operating System\u201d Proc. IEEE Int. Conf. Robotics and Automation, Scottsdale 860\u2013865 (1989).","DOI":"10.1109\/ROBOT.1989.100090"},{"key":"S0263574700010298_ref007","doi-asserted-by":"crossref","unstructured":"7. Schmitz D. , Khosla P. , Hoffman R. and Kanade T. , \u201cCHIMERA: A Real-time Programming Environment for Manipulator Control\u201d Proc. IEEE Int. Conf. Robotics and Automation, Scottsdale 846\u2013852 (1989).","DOI":"10.1109\/ROBOT.1989.100088"},{"key":"S0263574700010298_ref006","unstructured":"6. Zheng F.Y. , Luh J.Y.S. and Jia P.F. , \u201cA real-time distributed computer system for coordinated-motion control of two industrial robots\u201d Proc. IEEE Int. Conf. Robotics Automation, Raleigh 1236\u20131243 (1987)."},{"key":"S0263574700010298_ref005","doi-asserted-by":"crossref","unstructured":"5. Ling Y.L.C. , Sadayappan P. , Olson K.W. and Orin D.E. , \u201cA VLSI Robotics Vector Processor for Real-Time Control\u201d Proc. IEEE Int. Conf. Robotics Automation Philadelphia 303\u2013308 (1988).","DOI":"10.1109\/ROBOT.1988.12065"},{"key":"S0263574700010298_ref003","doi-asserted-by":"crossref","unstructured":"3. Paul R. and Zhang H. , \u201cDesign of a Robot Force\/Motion Server\u201d Proc. IEEE Int. Conf. Robotics and Automation 318\u2013325 (1986).","DOI":"10.1109\/ROBOT.1986.1087471"},{"key":"S0263574700010298_ref002","doi-asserted-by":"crossref","unstructured":"2. Bejczy A. , Szakaly Z. , \u201cUniversal Computer Control System (UCCS) for Space Telerobots\u201d Proc. IEEE Int. Conf. Robotics and Automation, Raleigh, USA 318\u2013325 (1987).","DOI":"10.1109\/ROBOT.1987.1087997"},{"key":"S0263574700010298_ref004","doi-asserted-by":"publisher","DOI":"10.1109\/37.466"},{"key":"S0263574700010298_ref009","unstructured":"9. Iwata H. , Marukawa K. and Matsushima K. , \u201cDevelopment of an instruction system for robotics and manipulator \u2013 tutorial program for student' labo\u201d Seventh CISM \u2013 IFToMM Symposium on Theory and Practice of Robots and Manipulators, Ro Man Sy '88 Udine 518\u2013530 (1988)."},{"key":"S0263574700010298_ref012","doi-asserted-by":"crossref","unstructured":"12. Kir\u0107anski N. , Tim\u010denko A. , Jovanovi\u0107 Z. , Kir\u0107anski M. , Vukobratovi\u0107 M. and Milunov R. , \u201cComputation of customized symbolic robot models on peripheral array processors\u201d Proc. IEEE Int. Conf. Robotics and Automation Scottsdale 1180\u20131187 (1989).","DOI":"10.1109\/ROBOT.1989.100140"},{"key":"S0263574700010298_ref001","doi-asserted-by":"crossref","unstructured":"1. Kriegman D. , Siegel D. , Narasimhan S. , Hollerbach J. and Gerpheide G. , \u201cComputational Architecture for the Utah\/MIT Hand\u201d IEEE Int. Conf. Robotics and Automation 918\u2013924 (1985).","DOI":"10.1109\/ROBOT.1985.1087385"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700010298","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:57:02Z","timestamp":1738990622000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700010298\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,4]]},"references-count":13,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1991,4]]}},"alternative-id":["S0263574700010298"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700010298","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1991,4]]}}}