Re: RE: Wish List

Dear Bob,

Thanks for your "vote of confidence"!  I really appreciate it.  RIMCP is for
now just one of my own "ideas".  No "practical work" has yet been done on
it.

I don't consider myself to be a robotics expert, but I do have a strong
interest in that field.  I appreciate this chance to exchange ideas with
experts in the robotics field.  And I hope that you (and others on this
list) will be patient with me as I learn more about robotics development
along the way.

Sincerely,

Arthur Baldwin
----- Original Message -----
From: <[email protected]>
To: <[email protected]>
Sent: Saturday, August 17, 2002 12:43 AM
Subject: Re: [Orocos] RE: Wish List


> 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
> >
> > _______________________________________________
> > Orocos mailing list
> > [email protected]
> > http://mail.mech.kuleuven.ac.be/mailman/listinfo/orocos
> --
> ----------------------------------------------------------------------
> 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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