AITEC Contract Research Projects in FY1995 : Software

(12) Design of Multi-Agent Type Robot Language/System

Dr.Fumio Mizoguchi, Professor, Science University of Tokyo

Cooperative Robot Programming Language / System


by

Professor Fumio Mizoguchi



[Features of the Software]

This robot language consists of an execution module, an environment module and a planning module. The execution control module allows easy control of the robot on KLIC, and changes of the plan are possible. The environment vision module allows the robot to recognize changes in the environment. The planning module makes negotiation (question, broadcast, etc.) with other robots easy. The user can easily design a robot system, by describing correspondence between the contents of messages and the answers. Basically, the greater the number of robots, the more difficult the design of a robot system is. However the programs in the designed robot system does not depend on the number of robots, and we can easily design cooperative robot systems that can execute in parallel.

[Required Environment]

Robot language
machine : UNIX machine
Any environment that runs KLIC.
Vision system
machine : UNIX machine
OS : Solaris
A video board is needed.
Robot
The five degree-of-freedom manipulator RV-M1 which produced by Mitsubishi Electric Corporation.

[File Configuration]

SOURCE    Directory for Source File
  +------calib.kl1     Calibration program.
  +------commv.kl1     Execution control module.
  +------function.kl1  Utility functions.
  +------is.kl1        Environment vision module.
  +------plan.kl1      Planning module.
Doc       User Manual
DATA      Image processing program
Sample    Sample programs
C_Prog    Program for RS232C control

[FTP]



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