Research on embedded MAS based manipulator control

摘要

Purpose Presents an embedded MAS (Multi‐Agent System) based control method for multi link series manipulators. Design/methodology/approach The manipulator's completing operation work is based on several agents' cooperation. The entire embedded MAS of a manipulator is implemented in one ARM7 microprocessor. The multi agents and the communications between the agents are constructed depending on the real‐time multitasking capability and the system services of real time operation system, μ C/OS‐(tm). An improved distributed inverse kinematics algorithm, which is the foundation the agents' behavior strategies, and the system architecture designing are described in detail. Findings This method is very suitable for tele‐operation redundant manipulators' embedded control systems designing, with high reliability. Research limitations/implications Using this paradigm, the embedded system firmware development for a redundant manipulator would be very easy and the code would be reusable. A few amendments should be made for miscellaneous manipulators. Practical implications It is suitable for controlling a high reliability expected tele‐operation manipulator system. Originality/value The embedded MAS based manipulator control paradigm has several attractive advantages, led from MAS theory. Basing this method, we do not require computing the traditional inverse (or pseudoinverse) Jacobian matrix to control a redundant manipulator, especially for mobile redundant robot based on a compact embedded control system, expecting high reliability and potential complexity for coping with dynamical environments. The development procedure would be very easy and the code would be reusable. A few amendments should be made for different manipulators.