Formal approach to the design of robot programming frameworks: the behavioural control case

• Autorzy: Zieliński C.
• Języki publikacji: EN

Abstrakty

EN

Programming frameworks [1] are application generators with the following components: library of software modules (building blocks out of which the system is constructed), a method for designing new modules that can be appended to the above mentioned library, a pattern according to which ready modules can be assembled into a complete system jointly exerting control over it and realizing the task at hand. The presented transition function based formalism can be applied to specifying programming frameworks for robot controllers executing very diverse tasks. The paper deals with systems consisting of multiple embodied agents, influencing the environment through effectors, gathering information from the environment through sensors and communicating with other agents through communication channels. The presented code patterns pertain to behavioural agents. The formalism was instrumental in the design of MRROC++ robot programming framework, which has been used for producing controllers of single and two manipulator systems performing diverse tasks. The formalism introduces rigor into the discussion of the structure of embodied agent controllers. It is used as the means for the specification of the functions of the components of the control system and the structure of the communication links between them. This structures the implementation of a programming framework, and that in turn makes the coding of specific controllers much easier, both from the point of view of dealing with the hardware configuration of the system and the specific task that has to be executed.

Słowa kluczowe

EN

robot programming frameworks

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2005
• Tom: Vol. 53, nr 1
• Strony: 57--67
• Opis fizyczny: Bibliogr. 43 poz., 3 rys.

Twórcy

autor

Zieliński C.

• Institute of Control and Computation Engineering, Faculty of Electronics and Information Technology, Warsaw University of Technology, 15/19 Nowowiejska St., 00-665 Warsaw, Poland.,

Bibliografia

• [1] M. E. Markiewicz and C. J. P. Lucena, “Object oriented framework development”, ACM Crossroads 7(4) (2001).
• [2] K. Mianowski and K. Nazarczuk, “Parallel drive of manipulator arm”, in: Proceedings of the 8th CISMIFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy 8, Cracow, Poland, 2–6 July, pp. 143–150 (1990).
• [3] K. Nazarczuk, K. Mianowski, A. Ol¸edzki A., and C. Rzymkowski, “Experimental investigation of the robot arm with serial-parallel structure”, in: Proceedings of the 9-th World Congress on the Theory of Machines and Mechanisms, Milan, Italy, pp. 2112–2116 (1995).
• [4] K. Mianowski, “Parallel and serial-parallel robots for the use of technological applications”, in: Proceedings of the Parallel Kinematic Machines PKM’99, November, Milano, Italy, pp. 39–46 (1999).
• [5] C. Zielinski, K. Mianowski, K. Nazarczuk, and W. Szynkiewicz, “A prototype robot for polishing and milling large objects”, Industrial Robot 30(1) 67–76 (January 2003).
• [6] K. Mianowski, K. Nazarczuk, M. Wojtyra, and S. Zietarski, “Application of the unigraphics system for milling and polishing with the use of rnt robot”, in: Proceedings of the Workshop for the users of UNIGRAPHICS system, Frankfurt, November, pp. 98–104 (1999).
• [7] K. Nazarczuk and K. Mianowski, “Polycrank – fast robot without joint limits”, in: Proceedings of the 12-th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy’12, Vienna, 6–9 June, pp. 317–324, Springer-Verlag, 1995.
• [8] K. Nazarczuk, K. Mianowski, and S. Łuszczak, “Development of the design of polycrank manipulator without joint limits”, in: Proceedings of the 13-th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy 13, Zakopane, Poland, 3–6 July, pp. 285–292 (2000).
• [9] C. Zielinski and W. Szynkiewicz, “Control of two 5 d.o.f. robots manipulating a rigid object”, in: IEEE Int. Symp. on Industrial Electronics ISIE’96, Warsaw, Poland, vol. 2, pp. 979–984 (17–20 June 1996).
• [10] W. Szynkiewicz, “Motion planning for multi-robot systems with closed kinematic chains”, in: Proceedings of the 9th IEEE International Conference on Methods and Models in Automation and Robotics MMAR’2003, Miedzyzdroje, pages 779–786 (25–28 August 2003).
• [11] R. C. Arkin, Behavior-Based Robotics, MIT Press, Cambridge, Mass., 1998.
• [12] S. Russell and P. Norvig, Artificial Intelligence: A Modern Approach, Prentice Hall, Upper Saddle River, N.J., 1995.
• [13] C. Zielinski, “A unified formal description of behavioural and deliberative robotic multi-agent systems”, in: Proc. 7th IFAC International Symposium on Robot Control SYROCO 2003, Wrocław, Poland, vol. 2, pp. 479–486 (1–3September 2003).
• [14] E. Bonabeau, M. Dorigo, and G. Theraulaz, Swarm Intelligence: From Natural to Artificial Systems, Oxford University Press, New York, Oxford, 1999.
• [15] R. Paul, “WAVE – a model based language for manipulator control”, The Industrial Robot, pp. 10–17 (March 1977).
• [16] S. Mujtaba and R. Goldman, AL Users’ Manual, Stanford Artificial Intelligence Lab., January 1979.
• [17] User’s Guide to VAL II: Programming Manual ver.2.0. Unimation Incorporated, A Westinghouse Company, August 1986.
• [18] R. H. Taylor, P. D. Summers, and J. M. Meyer, “AML: A manufacturing language”, International Journal of Robotics Research 1(3), 842–856 (1982).
• [19] A. P. Ambler and D. F. Corner, RAPT1 User’s Manual, Department of Artificial Intelligence, University of Edinburgh, 1984.
• [20] C. Blume and W. Jakob, Programming Languages for Industrial Robots, Springer-Verlag, Berlin, 1986.
• [21] C. Zielinski. TORBOL: An object level robot programming language, Mechatronics 1(4), 469–485 (1991).
• [22] V. Hayward and R. P. Paul, “Robot manipulator control under unix RCCL: A robot control C library”, Int. J. Robotics Research 5(4), 94–111 (Winter 1986).
• [23] V. Hayward and S. Hayati, “KALI: An environment for the programming and control of cooperative manipulators”, in: Proc. American Control Conference, pp. 473–478 (1988).
• [24] V. Hayward, L. Daneshmend, and S. Hayati, “An overview of KALI: A system to program and control cooperative manipulators”, In K. Waldron, ed., Advanced Robotics, pp. 547–558, Springer-Verlag, Berlin, 1989.
• [25] C. Zielinski, Robot Programming Methods, Publishing House of Warsaw University of Technology, Warsaw, 1995.
• [26] C. Zielinski, “Flexible controller for robots equipped with sensors”, in: 9th Symp. Theory and Practice of Robots and Manipulators, Ro.Man.Sy’92, Udine, Italy, Lect. Notes: Control and Information Sciences 187, pp. 205–214, Springer-Verlag, Berlin, 1–4 September (1992).
• [27] C. Zielinski, “Control of a multi-robot system”, in: 2nd Int. Symp. Methods and Models in Automation and Robotics MMAR’95, Miedzyzdroje, Poland, pp. 603–608, (30 Aug.–2 Sept. 1995).
• [28] C. Zielinski, “Object–oriented programming of multi–robot systems”, in: Proc. 4th Int. Symp. Methods and Models in Automation and Robotics MMAR’97, Miedzyzdroje, Poland, pp. 1121–1126 (26–29 August 1997).
• [29] C. Zielinski, “The MRROC++ system”, in: 1st Workshop on Robot Motion and Control, RoMoCo’99, Kiekrz, Poland, pp. 147–152 (28–29 June 1999).
• [30] S. Fleury and M. Herrb, Genom user’s guide, Report, LAAS, Toulouse, December 2001.
• [31] R. Alami, R. Chatila, S. Fleury, M. Ghallab and F. Ingrand, “An architecture for autonomy”, Int. J. of Robotics Research 17(4), 315–337 (1998).
• [32] L. Petersson, D. Austin, and H. Christensen, “Dca: A distributed control architecture for robotics”, in: Proc. Int. Conference on Intelligent Robots and Systems IROS’01, 2001.
• [33] R. Simmons, R. Goodwin, C. Fedor and J. Basista, “Task control architecture: Programmer’s guide to version 8.0”, Carnegie Mellon University, School of Computer Science, Robotics Institute, May 1997.
• [34] R. Simmons and D. Apfelbaum, “A task description languagefor robot control”, in: International Conference on Itelligent Robots and Systems IROS’98. Victoria, Canada. October 1998.
• [35] E. R. Morales, “Generis: The ec-jrc generalised software control system for industrial robots”, Industrial Robot 26(1), 26–32 (1999).
• [36] J. Pritchard, COM and COBRA Side by Side: Architectures, Strategies, and Implementations, Addison-Wesley, Reading, 1999.
• [37] H. Bruyninckx, Orocos – Open Robot Control Software, http://www.orocos.org/, 2002.
• [38] C. Zielinski, Specification of behavioural embodied agents, in: K. Kozłowski, ed., Fourth International Workshop on Robot Motion and Control, RoMoCo’04, Puszczykowo, Poland, pp. 79–84 (17–20 June 2004).
• [39] C. Zielinski, “Reaction based robot control”, Mechatronics 4(8), 843–860 (1994).
• [40] R. A. Brooks, “A robust layered control system for a mobile robot”, IEEE Journal of Robotics and Automation RA-2(1), 14–23 (March 1986).
• [41] R. A. Brooks, “Intelligence without representation”, Artificial Intelligence (47), 139–159 (1991).
• [42] C. Zielinski, “By how much should a general purpose programming language be extended to become a multi-robot system programming language?”, Advanced Robotics 15(1), 71–95 (2001).
• [43] C. Zielinski, “Formalization of programming frameworks for multi-robot systems”, in: 8-th National Conference on Robotics, Polanica Zdrój, 23–25 June (2004), (in Polish).