A multi-agent based implementation of task coordinate servo for the DD manipulator: ETA3
A multi-agent based implementation of task coordinate servo for the DD manipulator: ETA3
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DD 机械臂的基于多智能体的任务坐标伺服实现：ETA3
DOI：
10.1109/iros.1995.525836
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
K. Kitagaki
中科院分区：
文献类型：
--
作者：
T. Suehiro;K. Kitagaki
我们一直在开发一种集成多种功能模块的智能机器人多智能体机器人控制系统。控制系统由多台晶片机和工作站组成。为了支持网络上代理之间灵活、高速的通信，我们开发了路由器软件。使用路由器，系统实现了非常灵活的机器人控制系统，支持整个机器人控制，从伺服控制等低层控制到运动规划等高层控制。本文描述了带有路由器软件的多智能体机器人控制系统、其通信性能的估计以及基于多智能体的直接驱动机械手任务坐标伺服控制的实现：ETA3。
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.