A rapidly deployable manipulator system

A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create and program a manipulator, which is custom-tailored for a given task. This article describes the main building blocks of such a system: a reconfigurable modular manipulator system (RMMS), modular and reusable control software, and a novel agent-based approach to task-based design of modular manipulators.

[1]  Beno Benhabib,et al.  Mechanical design of a modular robot for industrial applications , 1991 .

[2]  Pradeep K. Khosla,et al.  Vision and force driven sensorimotor primitives for robotic assembly skills , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[3]  Zbigniew Michalewicz,et al.  Genetic Algorithms + Data Structures = Evolution Programs , 1996, Springer Berlin Heidelberg.

[4]  John H. Holland,et al.  Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence , 1992 .

[5]  Fumihito Arai,et al.  A study on dynamically reconfigurable robotic systems: assembling, disassembling and reconfiguration of cellular manipulator by cooperation of two robot manipulators , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[6]  Reiko Tanese,et al.  Distributed Genetic Algorithms , 1989, ICGA.

[7]  Takeo Kanade,et al.  The CMU reconfigurable modular manipulator system , 1988 .

[8]  Andrew A. Goldenberg,et al.  Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[9]  Pradeep K. Khosla,et al.  Onika: A Multilevel Human-Machine Interface for Real-Time Sensor-Based Robotics Systems , 1994 .

[10]  D. B. Stewart,et al.  Real-time software design and analysis of reconfigurable multi-sensor based systems , 1994 .

[11]  Takafumi Matsumaru,et al.  Design and control of the modular robot system: TOMMS , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[12]  Seshashayee Sankarshana Murthy.  Synergy in cooperating agents: designing manipulators from task specifications , 1992 .

[13]  Pradeep K. Khosla,et al.  Rapid development of robotic applications using component-based real-time software , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[14]  Christiaan J. J. Paredis,et al.  Kinematic Design of Serial Link Manipulators From Task Specifications , 1993, Int. J. Robotics Res..

[15]  Pradeep K. Khosla,et al.  A Multi-population Genetic Algorithm And Its Application To Design Of Manipulators , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Christiaan J. J. Paredis,et al.  Fault Tolerant Task Execution through Global Trajectory Planning , 1996 .

[17]  Pradeep K. Khosla,et al.  A software architecture-based human-machine interface for reconfigurable sensor-based control systems , 1993, Proceedings of 8th IEEE International Symposium on Intelligent Control.

[18]  R. Cohen,et al.  Conceptual Design of a Modular Robot , 1992 .

[19]  Pradeep K. Khosla,et al.  Sensorimotor primitives for robotic assembly skills , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[20]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[21]  Joel W. Burdick,et al.  Determining task optimal modular robot assembly configurations , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.