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Optimal Command Ordering for Serial Link Manipulators
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-5129-342X
2012 (English)In: 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), IEEE Robotics and Automation Society, 2012, 255-261 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
IEEE-RAS International Conference on Humanoid Robots, ISSN 2164-0572
Keyword [en]
Robot design, control, humanoids
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-106986DOI: 10.1109/HUMANOIDS.2012.6651529Scopus ID: 2-s2.0-84891084425ISBN: 978-146731369-8 (print)OAI: oai:DiVA.org:kth-106986DiVA: diva2:574317
Conference
2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012; Osaka; Japan; 29 November 2012 through 1 December 2012
Funder
EU, FP7, Seventh Framework Programme, FP7-ICT-288533ICT - The Next Generation
Note

QC 20130110

Available from: 2013-01-10 Created: 2012-12-05 Last updated: 2014-02-26Bibliographically approved

Open Access in DiVA

SmithHumanoids2012(972 kB)218 downloads
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Smith, ChristianKarayiannidis, Yiannis

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