Generalized software components for reconfiguring hyper-redundant manipulators

Generalized software components for reconfiguring hyper-redundant manipulators

An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based dec...

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Veröffentlicht in:IEEE/ASME transactions on mechatronics 2002-12, Vol.7 (4), p.475-478
Hauptverfasser: Pryor, M.W., Taylor, R.C., Kapoor, C., Tesar, D.
Format: Artikel
Sprache:eng
Schlagworte:
Application software
Applied sciences
Computational geometry
Computer industry
Computer programs
Computer science
control theory
systems
Control systems
Control theory. Systems
Decision making
Dynamical systems
Dynamics
Exact sciences and technology
Jacobian matrices
Kinematics
Manipulator dynamics
Modular
Robot control
Robotics
Service robots
Software
Software engineering
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Beschreibung
Zusammenfassung:An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2002.806229