0

Full Content is available to subscribers

Subscribe/Learn More  >

Run-Time Integration of Robotic Manipulators and Their Controllers

[+] Author Affiliations
Fredrerick M. Proctor, Christopher J. Scrapper, Benjamin Balaguer

National Institute of Standards and Technology, Gaithersburg, MD

Paper No. IMECE2007-43362, pp. 229-235; 7 pages
doi:10.1115/IMECE2007-43362
From:
  • ASME 2007 International Mechanical Engineering Congress and Exposition
  • Volume 3: Design and Manufacturing
  • Seattle, Washington, USA, November 11–15, 2007
  • Conference Sponsors: ASME
  • ISBN: 0-7918-4297-5 | eISBN: 0-7918-3812-9

abstract

This paper describes an information model and interface by which a general purpose robotic manipulator can publish its kinematic- and dynamic parameters to enable real-time trajectory control. The motivation for the work was the control of various robotic manipulators in USARSim, an urban search and rescue simulation environment, wherein manipulators are dynamically introduced. The objective was to avoid a static description, such as a configuration file, in favor of real-time communication channels. Although the interface originated with simulations, it has been applied to real robotic manipulators, including serial- and parallel kinematics. The interface is being used as the basis for robot competitions in the RoboCup Rescue Simulation league, which provides a plug-and-play software environment for robots and the competing controllers.

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In