The Experts below are selected from a list of 8463 Experts worldwide ranked by ideXlab platform
Peter Kazanzides - One of the best experts on this subject based on the ideXlab platform.
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Design of a scalable real-time Robot Controller and application to a dexterous manipulator
2011 IEEE International Conference on Robotics and Biomimetics, 2011Co-Authors: Paul Thienphrapa, Peter KazanzidesAbstract:Research in surgical Robots often calls for multi-axis Controllers and other I/O hardware for interfacing various devices with computers. As the need for dexterity is increased, the hardware and software interfaces required to support additional joints can become cumbersome and impractical. To facilitate prototyping of Robots and experimentation with large numbers of axes, it would be beneficial to have Controllers that scale well in this regard. This paper discusses the design of a real-time (one kilohertz) Robot Controller based on a centralized processing, distributed I/O architecture. We combine powerful yet accessible real-time technologies such as IEEE 1394 (FireWire) and low-latency field programmable gate arrays (FPGAs). The device is developed and used with a real-time operating system, and scalability is demonstrated on a novel snake-like surgical manipulator. Results on a 21-axis prototype suggest that the proposed solution can help increase the viability of complex Robots, particularly in education and research. In that spirit, the Robot control software libraries have been released as open source, and efforts are underway to release the electronic designs.
Kyoichi Tatsuno - One of the best experts on this subject based on the ideXlab platform.
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MHS - A Robot Controller for a working cell
2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS), 2017Co-Authors: Kazumasa Kito, Kyoichi Tatsuno, Shinobu Otao, Tatsuo Hosotani, Katsumi YohinoAbstract:Long teaching time greatly reduces production efficiency in high-mix low-volume production. The teaching time was shortened by easy offline teaching. This paper describes an example of a Robot Controller for work cells for high-mix low-volume production. By this Controller, we can easily teach tasks. In order to perform work with easy offline teaching, Ambiguous teaching position by rough teaching is corrected by visual feedback by hand-eye camera and force control by the force sensor. The Robot Controller was manufactured, and made a task performance test on "Grasp the bolt in the pallet".
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A Robot Controller for a working cell
2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS), 2017Co-Authors: Kazumasa Kito, Kyoichi Tatsuno, Shinobu Otao, Tatsuo Hosotani, Katsumi YohinoAbstract:Long teaching time greatly reduces production efficiency in high-mix low-volume production. The teaching time was shortened by easy offline teaching. This paper describes an example of a Robot Controller for work cells for high-mix low-volume production. By this Controller, we can easily teach tasks. In order to perform work with easy offline teaching, Ambiguous teaching position by rough teaching is corrected by visual feedback by hand-eye camera and force control by the force sensor. The Robot Controller was manufactured, and made a task performance test on "Grasp the bolt in the pallet".
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a Robot Controller for power distribution line maintenance Robot working by task level command
IEEE SICE International Symposium on System Integration, 2016Co-Authors: Koichi Kurabe, Kazumasa Kito, Yukiko Kato, Motoki Koike, Kouji Jinno, Kyohei Yamashita, Mohammed Tahri Sqalli, Kyoichi TatsunoAbstract:We are currently developing a power distribution line maintenance Robot. This Robot works using task-level commands such as "grasp the bolt on the toolbox." The aim of this development is to reduce the load on workers manually performing such power distribution maintenance tasks. We propose a system architecture for the Robot Controller to facilitate the development of this Robot. This paper describes the framework of the proposed Controller architecture, some Controller source/pseudo code written in C language, and several task performance experiments.
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An example of open Robot Controller architecture
IEEE International Symposium on Micro-NanoMechatronics and Human Science 2005, 2005Co-Authors: Kyoichi TatsunoAbstract:In this paper, we propose an architecture for easy construction of an open Robot Controller. The Controller is a multi-agent system which has six agents: the man-machine interface, task planner, motion planner, arm Controller, tool Controller and CG display. The Controller also has two databases: the task knowledge database and the Robot/environment database. Based on this Controller architecture, we are constructing a CG simulator for a power distribution line maintenance Robot and are executing simulations of the maintenance tasks.
Paul Thienphrapa - One of the best experts on this subject based on the ideXlab platform.
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Design of a scalable real-time Robot Controller and application to a dexterous manipulator
2011 IEEE International Conference on Robotics and Biomimetics, 2011Co-Authors: Paul Thienphrapa, Peter KazanzidesAbstract:Research in surgical Robots often calls for multi-axis Controllers and other I/O hardware for interfacing various devices with computers. As the need for dexterity is increased, the hardware and software interfaces required to support additional joints can become cumbersome and impractical. To facilitate prototyping of Robots and experimentation with large numbers of axes, it would be beneficial to have Controllers that scale well in this regard. This paper discusses the design of a real-time (one kilohertz) Robot Controller based on a centralized processing, distributed I/O architecture. We combine powerful yet accessible real-time technologies such as IEEE 1394 (FireWire) and low-latency field programmable gate arrays (FPGAs). The device is developed and used with a real-time operating system, and scalability is demonstrated on a novel snake-like surgical manipulator. Results on a 21-axis prototype suggest that the proposed solution can help increase the viability of complex Robots, particularly in education and research. In that spirit, the Robot control software libraries have been released as open source, and efforts are underway to release the electronic designs.
F.c. Guida - One of the best experts on this subject based on the ideXlab platform.
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Distributed general-purpose Robot Controller
[1993] Proceedings IEEE International Conference on Robotics and Automation, 1993Co-Authors: A. Timcenko, A.j. Cameron, F.c. GuidaAbstract:A general-purpose Robot Controller is described. The Controller is based on a distributed multiprocessor architecture that provides real-time response. The high sampling rate of up to 6 kHz for each controlled joint allows successful applications of tasks, such as operation in very rigid environments. The software supports real-time operation, network communication, interrupt handling and code migration among CPUs that are part of the Controller. The interface between four main hierarchical levels in the Controller is defined, and its implementation on the distributed multitasking system is described. The Controller is used in a testbed that consists of a 7-degree-of-freedom manipulator equipped with joint position and torque sensors as well as a force/torque sensor mounted on the manipulator's tip.
K. Tatsuno - One of the best experts on this subject based on the ideXlab platform.
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An Example of Open Robot Controller Architecture - For Power Distribution Line Maintenance Robot System -
World Academy of Science Engineering and Technology International Journal of Mechanical Aerospace Industrial Mechatronic and Manufacturing Engineering, 2008Co-Authors: Yingxin He, K. TatsunoAbstract:In this paper, we propose an architecture for easily constructing a Robot Controller. The architecture is a multi-agent system which has eight agents: the Man-machine interface, Task planner, Task teaching editor, Motion planner, Arm Controller, Vehicle Controller, Vision system and CG display. The Controller has three databases: the Task knowledge database, the Robot database and the Environment database. Based on this Controller architecture, we are constructing an experimental power distribution line maintenance Robot system and are doing the experiment for the maintenance tasks, for example, “Bolt insertion task”. Keywords—Robot Controller, Software library, Maintenance Robot, Robot language, Agent system.
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A conceptual proposal of an open architecture for a Robot Controller
MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717), 2003Co-Authors: T. Wada, A. Komori, Y. Fukaya, T. Oguri, Y. Suzuki, K. Suzuki, M. Kato, M. Momiyama, K. TatsunoAbstract:This paper proposes an example of an open architecture for a Robot Controller. This architecture is a multi-agent system with blackboard files. The key interfaces between the agents are the task knowledge database and motion table, which are described by character code.
