Abstract
Robotic applications are real-time dynamical systems which intimately combine different components ranging from high-level decision making and discrete-event controllers to low-level feedback loops. Tightly coupling the two last components and considering them in a formal framework permitted, in a centralized approach, both crucial properties to be proved and efficient implementation. We examine this coupling in the case of an architecture where discrete-event and low-level controllers are spatially distributed and we propose, in the framework of the Orccad methodology, different methods for their implementation. Their impact to the verification process is analyzed. The experimental evaluation of the proposed techniques uses the Ifremer free-floating underwater manipulation system Vortex-Pa 10. The real-time programming aspects of the experiment are handled in the framework of the Orccad programming environment targeting the Pirat real-time controller.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
C. Astraudo, J.J. Borrelly, "Simulation of Multiprocessor Robot Controllers", Proc. IEEE Int. Conf. on Robotics and Automation, Nice, May 1992
G. Berry, G. Gonthier: “The Synchronous Programming Language Esterel: Design, Semantics, Implementation”, Science Of Computer Programming, Vol 19 no 2, pp 87–152, 1992.
P. Caspi, A. Girault, and D. Pilaud. Distributing reactive systems. In 7th Int. Conf. on Parallel and Distributed Computing Systems, Las Vegas, Oct. 1994.
B. Espiau, K. Kapellos and M. Jourdan: Verification in Robotics: Why and How?, Robotics Research, the seventh International Symposium, octobre 1995, Giralt and Hirzinger editor, Springer Verlag.
B. Espiau, K. Kapellos, E. Coste-Manière and N. Turro: “Formal Mission Specification in an Open Architecture”, Isram'96, Montpellier, May 1996.
K. Kapellos, S. Abdou, M. Jourdan and B. Espiau: “Specification, Verification and Implementation of Tasks and Missions for an Autonomous Vehicle”, 4th Int. Symp. on Experimental Robotics, Stanford, 1995.
V. Rigaud e.a. (Union team): “Union: Underwater intelligent operation and navigation”, to appear in IEEE Robotics and Automation Magazine, Special Issue on Robotics & Automation in Europe.
D. Simon, K. Kapellos and B. Espiau, “Control laws, Tasks and Procedures with Orccad: Application to the Control of an Underwater Arm”, preprints of 6th IARP workshop on Underwater Robotics, Toulon, March 1996.
D. Simon, B. Espiau, E. Castillo and K. Kapellos: “Computer-aided Design of a Generic Robot Controller Handling Reactivity and Real-time Control Issues”, IEEE Trans. on Control Systems Technology, vol 1, no 4, Decembre 1993.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Kapellos, K., Simon, D., Granier, S., Rigaud, V. (1998). Distributed control of a free-floating underwater manipulation system. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112994
Download citation
DOI: https://doi.org/10.1007/BFb0112994
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76218-8
Online ISBN: 978-3-540-40920-5
eBook Packages: Springer Book Archive