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Experimental integration of planning in a distributed control system

  • Section 1 Planning And Arm Control
  • Conference paper
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Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

This paper describes a complete system architecture integrating planning into a two-armed robotic workcell. The system is comprised of four major components: user interface, planner, the dual-arm robot control and sensor system, and an on-line simulator.

The graphical user interface provides high-level user direction. The motion planner generates complete on-line plans to carry out these directives, specifying both single and dual-armed motion and manipulation. Combined with the robot control and real-time vision, the system is capable of performing object acquisition from a moving conveyor belt as well as reacting to environmental changes on-line.

The modules communicate through a novel subscription-based network data sharing system called the Network Data Delivery Service (NDDS). NDDS allows the different modules to transparently share data, and thus be distributed across different computer systems. Its stateless protocol naturally supports multiple anonymous data consumers and producers, arbitrary data types, on-line reconfiguration and error recovery.

The control software is integrated within the ControlShell framework. ControlShell provides an object-oriented generic software framework for combining reusable software components into a working, complex system.

This paper presents an overview of the individual system components, as well as a summary of the architecture developed to integrate the system. Much of the paper focuses on the interfaces between components.

This work was supported in part by ARPA/Navy Contract No. N00014-92-J-1809.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Stanford University, 94305, Stanford, California

    Gerardo Pardo-Castellote

  2. Department of Mechanical Engineering, Stanford University, 94305, Stanford, California

    Tsai-Yen Li & Yoshihito Koga

  3. Department of Aeronautics and Astronautics, Stanford University, 94305, Stanford, California

    Robert H. Cannon Jr.

  4. Department of Computer Science, Stanford University, 94305, Stanford, California

    Jean-Claude Latombe

  5. Real Time Innovations Inc., Stanford University, 94305, Stanford, California

    Stanley A. Schneider

Authors
  1. Gerardo Pardo-Castellote
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  2. Tsai-Yen Li
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  3. Yoshihito Koga
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  4. Robert H. Cannon Jr.
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  5. Jean-Claude Latombe
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  6. Stanley A. Schneider
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Pardo-Castellote, G., Li, TY., Koga, Y., Cannon, R.H., Latombe, JC., Schneider, S.A. (1994). Experimental integration of planning in a distributed control system. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027584

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  • DOI: https://doi.org/10.1007/BFb0027584

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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