MONSUN A Distributed Manipulator Control System Utilizing Network Technology

Abstract The paper presents a philosophy, an architecture and an implementation of a distributed manipulator control system whereby the controllers are to be interconnected by standard LAN-means. MONSUN focusses on manual control in the sense of telepresence systems but also includes semiautonomous operation modes. The application protocols are of prime importance for MONSUN to be an open system. An important finding is that a motorized master arm is of significant help giving natural cues for the limits of the actual working envelope.