Fault-Tolerant Communication in Large-Scale Manipulators
نویسندگان
چکیده
In this paper concepts for fault tolerant communication sys tems in large scale manipulators for heavy weights are introduced This class of robots makes high demands on safety and real time behaviour of data transmission which cannot be ful lled by conventional communi cation systems According to di erent types of data the communication system has to cope with two fault tolerant architectures based on the CAN protocol and on the ATM system are exposed
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