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 a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the reconfigurable modular manipulator system (RMMS) hardware and the corresponding control software.

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

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

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

[4]  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.

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

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

[7]  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.

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

[9]  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.

[10]  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.

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

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

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