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

Volume

1

fYear

1995

fDate

5-9 Aug 1995

Firstpage

459

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.1995.525836

Filename

525836