Optimal Command Ordering for Serial Link Manipulators
2012 (English)In: 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), IEEE Robotics and Automation Society, 2012, 255-261 p.Conference paper (Refereed)
Reducing the number of cables needed for the actuators and sensors of humanoid and other robots with high numbers of degrees of freedom (DoF) is a relevant problem, often solved by using a common bus for all communication, which may result in bandwidth limitation problems. This paper proposes an optimized method to re-order the commands sent to the joint-local controllers of a high DoF serial manipulator. The proposed method evaluates which local controller would benefit the most from an updated command given a cost function, and sends a command to this controller. As is demonstrated in both simulation and in experiments on a real robot, the resulting scheme can significantly improve system performance, equivalent to increasing the communication frequency by up to 3 times.
Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2012. 255-261 p.
, IEEE-RAS International Conference on Humanoid Robots, ISSN 2164-0572
Robot design, control, humanoids
IdentifiersURN: urn:nbn:se:kth:diva-106986DOI: 10.1109/HUMANOIDS.2012.6651529ScopusID: 2-s2.0-84891084425ISBN: 978-146731369-8OAI: oai:DiVA.org:kth-106986DiVA: diva2:574317
2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012; Osaka; Japan; 29 November 2012 through 1 December 2012
FunderEU, FP7, Seventh Framework Programme, FP7-ICT-288533ICT - The Next Generation
QC 201301102013-01-102012-12-052014-02-26Bibliographically approved