Abstract

This papers presents a multisensory system for robotic application that uses communication network with specific requirements. The real system uncludes numerous sensors for measuring the mechanical quantities. There are: - multicomponent force/torque, proximity/distance, noncontact position, tactile contact force. The communication system should satisfy some given speed, time response and reliability requirements. Another set of problems is the architecture of the communication network between sensors/actuators and controller. Intel's Bitbus has been chosen. It is a master-slave type field bus, expecially suitable for transmission of short messages. The performance of this multisensory system is described

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