Experimental Integration of Planning in a Distributed Control System

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 di erent modules to transparently share data, and thus be distributed across di erent computer systems. Its stateless protocol naturally supports multiple anonymous data consumers and produc...

• Type: Conference
• Year: 1993
• Where: ISER
• Authors: Gerardo Pardo-Castellote, Tsai-Yen Li, Yoshihito Koga, Robert H. Cannon Jr., Jean-Claude Latombe, Stanley A. Schneider
• Keywords: ISER 1993, Robot Control, Robotics, Two-armed Robotic Workcell, User Interface