A modular approach to multi-robot control

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Description

The ability to rapidly command multi-robot behavior is crucial for the acceptance and effective utilization of multiple robot control. To achieve this, a modular- multiple robot control solution is being, pursued using the SMART modular control architecture. This paper investigates the development of a new dual-arm kinematics module (DUAL-KLN) which allows multiple robots, previously controlled as separate stand-alone systems, to be controlled as a coordinated multi-robot system. The DUAL-KIN module maps velocity and force information from a center point of interest on a grasped object to the tool centers of each grasping robot. Three-port network equations are used and mapped ... continued below

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6 p.

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Anderson, R.J. & Lilly, K.W. March 1, 1996.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 21 times . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

The ability to rapidly command multi-robot behavior is crucial for the acceptance and effective utilization of multiple robot control. To achieve this, a modular- multiple robot control solution is being, pursued using the SMART modular control architecture. This paper investigates the development of a new dual-arm kinematics module (DUAL-KLN) which allows multiple robots, previously controlled as separate stand-alone systems, to be controlled as a coordinated multi-robot system. The DUAL-KIN module maps velocity and force information from a center point of interest on a grasped object to the tool centers of each grasping robot. Three-port network equations are used and mapped into the scattering operator domain in a computationally efficient form. Application examples of the DUAL-KLN module in multi-robot coordinated control are given.

Physical Description

6 p.

Notes

OSTI as DE96006408

Source

  • 34. IEEE conference on decision and control, New Orleans, LA (United States), 13-15 Dec 1995

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  • Other: DE96006408
  • Report No.: SAND--96-0570C
  • Report No.: CONF-951206--3
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 211585
  • Archival Resource Key: ark:/67531/metadc670031

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • March 1, 1996

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

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  • April 14, 2016, 8:41 p.m.

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Anderson, R.J. & Lilly, K.W. A modular approach to multi-robot control, article, March 1, 1996; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc670031/: accessed December 14, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.