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    请使用永久网址来引用或连结此文件: https://nccur.lib.nccu.edu.tw/handle/140.119/75056


    题名: Experimental Integration of Planning in a Distributed Control System
    作者: Li, Tsai-yen;Gerardo, Pardo-castellote;Koga, Yoshihito;Jr, Robert H. Cannon;Latombe, Jean-claude;Schneider, Stanley A.
    李蔡彥
    贡献者: 資科系
    日期: 1993
    上传时间: 2015-05-08 16:07:27 (UTC+8)
    摘要: This paper describes a complete system architecture integrating planning into a two-armed robotic workcell. The system is comprised of four major components: user interface, planner, the dual-arm robot control and sensor system, and an on-line simulator. The graphical user interface provides high-level user direction. The motion planner generates complete on-line plans to carry out these directives, specifying both single and dual-armed motion and manipulation. Combined with the robot control and real-time vision, the system is capable of performing object acquisition from a moving conveyor belt as well as reacting to environmental changes on-line. The modules communicate through a novel subscription-based network data sharing system called the Network Data Delivery Service (NDDS). NDDS allows the different modules to transparently share data, and thus be distributed across different computer systems. Its stateless protocol naturally supports multiple anonymous data consumers and producers, arbitrary data types, on-line reconfiguration and error recovery. The control software is integrated within the ControlShell framework. ControlShell provides an object-oriented generic software framework for combining reusable software components into a working, complex system. This paper presents an overview of the individual system components, as well as a summary of the architecture developed to integrate the system. Much of the paper focuses on the interfaces between components.
    關聯: International Symposium on Experimental Robotics - ISER , pp. 50-61
    数据类型: article
    DOI 連結: http://dx.doi.org/10.1007/BFb0027584
    DOI: 10.1007/BFb0027584
    显示于类别:[資訊科學系] 期刊論文

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