NDLI: A multi-agent approach to distributed control for task-level programs for cooperating manipulators

Content Provider	IEEE Xplore Digital Library
Author	Bohner, P.
Copyright Year	1994
Description	Author affiliation: Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany (Bohner, P.)
Abstract	The use of two or more robots in a common workspace is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The corresponding manipulator motions are then calculated by assigning the local intelligence to each joint. The local intelligence enables the joint agents to calculate in parallel their appropriate movements to make the end effector reach the desired position. During execution, each joint evaluates the sensor data to compensate for execution errors, to react on unexpected obstacles and to provide the manipulator coordination. Therefore, a distributed fuzzy rule base has been developed. As this local evaluation may lead to non-optimal overall behavior of the manipulator, the joint agents communications provide global suboptimality.
Starting Page	1088
Ending Page	1094
File Size	643763
Page Count	7
File Format	PDF
ISBN	0780319338
DOI	10.1109/IROS.1994.407531
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-09-12
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Distributed control Manipulators Mobile robots Robot kinematics Intelligent sensors Intelligent agent Control systems Error correction Real time systems Distributed computing
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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