RISC-based architectures for multiple robot systems
Several approaches to multiple robot system control are discussed. In order to simplify the study a multilayered model is proposed: a control layer which directly acts on the dynamics of the manipulators, a coordination/communication layer which makes all the manipulators work together and a program...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 1992 |
| País: | España |
| Institución: | Universidad de Sevilla (US) |
| Repositorio: | idUS. Depósito de Investigación de la Universidad de Sevilla |
| OAI Identifier: | oai:idus.us.es:11441/143040 |
| Acceso en línea: | https://hdl.handle.net/11441/143040 https://doi.org/10.1016/0141-9331(92)90020-T |
| Access Level: | acceso abierto |
| Palabra clave: | multiple robots multiprocessor control systems RISC LANs intelligent task scheduling |
| Sumario: | Several approaches to multiple robot system control are discussed. In order to simplify the study a multilayered model is proposed: a control layer which directly acts on the dynamics of the manipulators, a coordination/communication layer which makes all the manipulators work together and a programming layer which interfaces with the user. For the first layer two architectural alternatives are studied: a centralized single processor system and a distributed multiprocessor with static task assignment. For the second case an implementation based on the 1960 family of RISC processors is introduced. For the second layer three possibilities are considered: serial interface, parallel bus and local area network. The latter is carefully studied and a low cost alternative to the standard deterministic network MAP is introduced. This cell network is based on the CSMA/DCR protocol implemented on the i82596 coprocessor. Two alternatives are discussed for the programming layer: a parallel programming language based on a scene approach and a C extended language used to program elementary tasks in a robot independent way coupled with an intelligent scheduler used to assign these tasks to the robot arms at run time. |
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