Self Organizing Manipulator System Based on the Concept of Cellular Robotic System.

T Fukuda, G Xue, F Arai, K Kosuge, H Asama, H Omori… - 1993 - books.google.com
T Fukuda, G Xue, F Arai, K Kosuge, H Asama, H Omori, I Endo, H Kaetsu
1993books.google.com
Abstract The Self-Organizing Manipulator System (SOMS) proposed in this paper is a kind of
cellular robotic syst. em (CEBOT). It is an autonomous robotic system that can assemble a
cellular manipulator by itself for a given task. The system analyzes a given task and
generates a structure of the cellular manipulator that can execute the given task. The
assembly work of the cellular manipulator is done by other manipulator of the system. The
assembly is divided into modular subtasks and then expanded to macro commands of …
Abstract The Self-Organizing Manipulator System (SOMS) proposed in this paper is a kind of cellular robotic syst. em (CEBOT). It is an autonomous robotic system that can assemble a cellular manipulator by itself for a given task. The system analyzes a given task and generates a structure of the cellular manipulator that can execute the given task. The assembly work of the cellular manipulator is done by other manipulator of the system. The assembly is divided into modular subtasks and then expanded to macro commands of manipulators. In this research the environment database is automatically created by image processing of the image from CCD cameras. The sequence of subtasks and the collision avoidance of manipulators are taken into account for the planning of the assembly work. The simulation and experiments illustrate the concept of the system.
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