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I am certainly interested in your idea of "distributed control" of the
various limbs. I am actually writing my PhD on this subject....
I 'd welcome any sharing of ideas on this subject or pointers to
relevant work done by yourself or otyhers already.
Bob
On Sat, 2002-08-17 at 08:59, [email protected]
wrote:
> On Fri, 16 Aug 2002 [email protected] wrote:
>
> > A "snippet" of RIMCP might look like this:
> >
> > Grasp("Wine glass 7", 0.3, 0.1)
> >
> > where "Wine glass 7" is already defined as a "detailed 3D drawing",
> > 0.3 is the maximum pressure in ounces that can safely be applied to
> > the glass,
>
> Orocos wants to be unambiguous in physical units, hence a magic number
> like "0.3" won't do :-) And a pressure is force/surface area :-)
> And what the hell are ``ounces''? :-)
>
> > and 0.1 is a measure of the rate of change in speed and
> > inertia to prevent spilling the liquid in the glass.
>
> Speed and inertia are 6-dimensional entities, so a single number is
> ambiguous.
>
> Sorry for this nitpicking, but your examples illustrate one of the
> major problems in ``high level'' robotics: there are so many implicit
> assumptions made in any high level statement, that exchanging robot
> programs is a _very_ tough task.
>
> > In order for the master CPU to understand the "design of a new arm",
> > during the learning process, a table of Range of motion values would
> > have to be transferred from the arm's CPU to the master CPU.
>
> And many more variables: kinematics, dynamics, available motion
> profiles, available sensors + motor, and their performance, ...
>
> > Once we have these "heavy duty theoretical pictures" in place, I
> > think it will be easier to encourage mfgs to adopt our
> > standards...mostly because they realize that it makes their job so
> > much easier.
>
> Do they? Most of them have spent already many millions (in whatever
> currency) to get their own stuff together; they are not keen in
> spending more in adopting a ``standard'' that they do not control :-)
>
> Herman
>
> --
> K.U.Leuven, Mechanical Engineering, Robotics Research Group
> <http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480
>
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--
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ir. Bob Koninckx
Katholieke Universiteit Leuven
Division Production Engineering, tel. +32 16 322535
Machine Design and Automation fax. +32 16 322987
Celestijnenlaan 300B [email protected]
B-3001 Leuven Belgium http://www.mech.kuleuven.ac.be/pma
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