MARS software model for modeling modular manipulators

Gerard T. McKee; J. Andrew Fryer; Paul S. Schenker

doi:10.1117/12.444159

4 October 2001 MARS software model for modeling modular manipulators

Gerard T. McKee, J. Andrew Fryer, Paul S. Schenker

Proceedings Volume 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV; (2001) https://doi.org/10.1117/12.444159
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

In this paper we describe the application of the MARS model, for modelling and reasoning about modular robot systems, to modular manipulators. The MARS model provides a mechanism for describing robotic components and a method for reasoning about the interaction of these components in modular manipulator configurations. It specifically aims to articulate functionality that is a property of the whole manipulator, but which is not represented in any one component. This functionality arises, in particular, through the capacity for modules to inherit functionality from each other. The paper also uses the case of modular manipulators to illustrate a number of features of the MARS model, including the use of abstract and concrete module classes, and to identify some current limitations of the model. The latter provide the basis for ongoing development of the model.

Citation Download Citation

Gerard T. McKee, J. Andrew Fryer, and Paul S. Schenker "MARS software model for modeling modular manipulators", Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); https://doi.org/10.1117/12.444159

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