ABSTRACT
PENTTIVAHA, 1 JUHA RONING,2 TAPIO HEIKKILA, 1 JUHA KERVA1 and JARIREHU1
1VTT Automation, Machine Automation, P.O. Box 13023, SF-90571, Oulu Finland, 2 University of Oulu, Department of Electrical Engineering, FIN-90570, Oulu, Finland
5.1. INTRODUCTION
The significance of autonomy or semiautonomy is increasing in mechanical machines and manipulators. Depending on the application, the use of automation ensure an ability for autonomous machine operation machine or produces auxiliary operations for the operator, thus increasing work
efficiency and safety. A control system of an autonomous machine can be viewed as intelligent if, with its aid, it is possible to adapt to changing and unknown situations. In designing the control system of an autonomous machine the structure has to be designed to allow operations of desired type. The physical structure must be of an appropriate mechanical construction, which may include drivers, booms, cylinders and valves as well as internal and external sensors. The functionality of these components is controlled with individually specific methods. The control architecture serves as a guideline for the design and defines the policy for how the computational models can be divided and connected to each other.
