Research Initiation Award: Task-Level Programming for Manipulation of Multiple Robots

机器人任务级语言计算程序设计 加工，运动学，动力学，路径规划，控制，碰撞 避免和多个机器人操作器的感觉融合将 通过粗粒度矢量化以真实的时间实现， 使用基于工业标准VME总线的 分布式计算系统由多个标量和 向量处理器 这个计算机系统是由关闭- 现成的商用VME板。 该项目的成果可以， 因此，很容易转移到实际工业中， 应用程序，因此应该做出有意义的和重要的 对任务级多机器人发展的贡献 操纵系统。 由于编程环境是C/Unix 兼容，机器人编程可以借鉴现有的大型 熟练的C程序员和Unix用户。 这项研究调查了任务级编程， 操纵多个机器人，并研究其基础 力和运动协调的原理和算法， 碰撞检测和碰撞避免以及传感器融合。 该研究为基于传感器的多机器人系统的研究提供了理论基础 操纵和力量协调与广泛的信息 不同机器人之间的共享，碰撞检测算法 和避免碰撞的运动物体，和技术的力量 以及视觉传感器与机器人运动的集成。 一组 开发了标准的任务级功能。 通过这些任务- 水平的功能，一个复杂的机器人任务，可以方便地 完成了 理论，算法和任务级机器人 编程通过计算机模拟进行验证，以及 物理实验。

The task-level robot programming with computations of language processing, kinematics, dynamics, path planning, control, collision avoidance, and sensory fusion for multiple robot manipulators will be achieved in real time via coarse-grain vectorization and parallelization using an industrial standard VMEbus-based distributed computing system consisting of multiple scalar and vector processors. This computer system is assembled with off- the-shelf commercial VME boards. The results of the project can, therefore, be easily transferred for practical industrial applications and should thus make a meaningful and significant contribution towards the development of task-level multi-robot manipulation systems. Since the programming environment is C/Unix compatible, the robot programming can draw on the large existing body of skilled C programmers and Unix users. This research investigates task-level programming for manipulation of multiple robots, and studies its underlying principles and algorithms for force and motion coordinations, collision detection and collision avoidance, and sensor fusion. The research developes a theory for sensor-based multi-robot manipulation and force coordination with extensive information sharing among different robots, algorithms for collision detection and collision avoidance of moving objects, and techniques for force and vision sensor integration with robot motions. A set of standard task-level functions are developed. Through these task- level functions, a complicated robot task can be conveniently accomplished. The theory, algorithms, and task-level robot programming are validated through computer simulations as well as physical experimentations.