Title :
A multi-agent based implementation of task coordinate servo for the DD manipulator: ETA3
Author :
Suehiro, Takashi ; Kitagaki, Kosei
Author_Institution :
Real World Comput. Partnership, Tsukuba, Japan
Abstract :
We have been developing a multi-agent robot control system for an intelligent robot which is an integration of many kinds of functional modules. The control system consists of multiple transputers and workstations. To support flexible and high speed communication between agents on the network, we have developed a router software. Using the router, the system realizes a very flexible robot control system which supports throughout of robot control, from the low level control such as servo control to the high level control such as motion planning. This paper describes the multi-agent robot control system with the router software, estimation of its communication performance and a multi-agent based implementation of task coordinate servo control of a direct drive manipulator: ETA3
Keywords :
cooperative systems; manipulators; multiprocessor interconnection networks; servomechanisms; transputer systems; ETA3; direct drive manipulator; flexible high-speed communication; intelligent robot; multi-agent robot control system; multiple transputers; multiple workstations; router software; task coordinate servo; Communication system control; Communication system software; Control systems; Intelligent robots; Level control; Motion planning; Robot control; Servomechanisms; Servosystems; Workstations;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525836
