Title :
An example of open robot controller architecture
Author :
Tatsuno, Kyoichi
Author_Institution :
Dept. of Electr. & Electron. Eng., Meijo Univ., Nagoya, Japan
Abstract :
In this paper, we propose an architecture for easy construction of an open robot controller. The controller is a multi-agent system which has six agents: the man-machine interface, task planner, motion planner, arm controller, tool controller and CG display. The controller also has two databases: the task knowledge database and the robot/environment database. Based on this controller architecture, we are constructing a CG simulator for a power distribution line maintenance robot and are executing simulations of the maintenance tasks.
Keywords :
control engineering computing; manipulators; multi-agent systems; open systems; path planning; arm controller; man-machine interface; motion planner; multi-agent system; open robot controller architecture; robot/environment database; task knowledge database; task planner; tool controller; Character generation; Control systems; Databases; Displays; Motion control; Personal communication networks; Power distribution lines; Robot control; Robot kinematics; User interfaces;
Conference_Titel :
Micro-NanoMechatronics and Human Science, 2005 IEEE International Symposium on
Print_ISBN :
0-7803-9482-8
DOI :
10.1109/MHS.2005.1589960
