Reactive multi-agent based control of redundant manipulators

In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called “joint agent”. The agents, their communication and coordination are presented in this paper. Results are demonstrated for a 7-DOF redundant manipulator covered with tactile sensors