The Transactions of the Korean Institute of Electrical Engineers (대한전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A design of supervisory control system for a multi-robot system

다중로봇을 휘한 관리제어 시스템의 설계

  • 서일홍 (한양대 공대 전자공학과, 서울대 신기술연구센터) ;
  • 여희주 (한양대 대학원 전자공학과) ;
  • 김재현 (한양대 대학원 전자공학과) ;
  • 류종석 (LG산전) ;
  • 오상록 (KIST 정보전자연구부)
  • Published : 1996.01.01
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Abstract

This paper presents a design experience of a control language for coordination of a multi-robot system. To effectively program job commands, a Petrinet-type Graphical Robot Language(PGRL) is proposed, where some functions, such as concurrency and synchronization, for coordination among tasks can be easily programmed.In our system, the proposed task commands of PGRL are implemented by employing formal model languages, which are composed of three modules, sensory, data handling, and action module. It is expected that by using our proposed PGRL and formal languages, one can easily describe a job or task, and hence can effectively operate a complex real-time and concurrent system. The control system is being implemented by using VME-based 32-bit microprocessor boards for supervisory, each module controller(arm, hand, leg, sensor data processing module) and a real time multi-tasking operating system(VxWorks). (author). 17 refs., 16 figs., 2 tabs.

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