A Rapidly Deployable Manipulator System Christiaan J。J。 Paredis, H。 Benjamin Brown, Pradeep K。 Khosla

Abstract:  A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task。 This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS)hardware and the corresponding control software。86268

1 Introduction

Robot manipulators can be easily reprogrammed to perform different tasks, yet the range of tasks that can be performed by a manipulator is limited by mechanicalstructure。Forexample, a manipulator well-suited for precise movement across the top of a table would probably no be capable of lifting heavy objects in the vertical direction。 Therefore, to perform a given task,one needs to choose a manipulator with an appropriate mechanical structure。 

We propose the concept of a rapidly deployable manipulator system to address the above mentioned shortcomings of fixed configuration manipulators。  A rapidly deployable manipulator system consists of software and hardware that allow the user to rapidly  build and program a manipulator which is customtailored for a given task。 

The central building block of a rapidly deployable system is a Reconfigurable Modular Manipulator System (RMMS)。 The RMMS utilizes a stock of interchangeable link and joint modules of various sizes and performance specifications。 One such module is shown in Figure 2。 By combining these general purpose modules, a wide range of special purpose manipulators can be assembled。 Recently, there has been considerable interest in the idea of modular manipulators , for research applications as well as for industrial applications。 However, most of these systems lack the property of reconfigurability, which is key to the concept of rapidly deployable systems。 The RMMS is particularly easy to reconfigure thanks to its integrated quick-coupling connectors described in Section 3。

Effective use of the RMMS requires, Task Based Design software。 This software takes as input descriptions of the task and of the available manipulator modules; it generates as output a modular assembly configuration optimally suited to perform the given task。 Several different approaches have been used successfully to solve simpli-fied instances of this complicated problem。

  A third important building block of a rapidly deployable manipulator system is a framework for the generation of control software。 To reduce the complexity of softwaregeneration for real-time sensor-based control systems, a software paradigm called software assembly has been proposed in the Advanced Manipulators Laboratory at CMU。This paradigm combines the concept of reusable and reconfigurable software components, as is supported by the Chimera real-time operating system , with a graphical user interface and a visual programming language, implemented in Onika

Although the software assembly paradigm provides thesoftware infrastructure for rapidly programming manipulator systems, it does not solve the programming problem itself。 Explicit programming of sensor-based manipulator systems is cumbersome due to the extensive amount of detail which must be specified for the robot to perform the task。 The software synthesis problem for sensor-based robots can be simplified dramatically, by providing robust robotic skills, that is, encapsulated strategies for accomplishing common tasks in the robots task domain。 Such robotic skills can then be used at the task level planning stage without having to consider any of the low-level details

As an example of the use of a rapidly deployable system,consider a manipulator in a nuclear environment where it must inspect material and space for radioactive contamination, or assemble and repair equipment。 In such an environment, widely varied kinematic and dynamic performance is required, and these requirements may not be known a priori。 Instead of preparing a large set of different manipulators to accomplish these tasks—an expensive solution—one can use a rapidly deployable manipulator system。 Consider the following scenario: as soon as a specific task is identified, the task based design software determinesthe task。 This optimal configuration is thenassembled from the RMMS modules by a human or, in the future, possibly by another manipulator。 The resulting manipulator is rapidly programmed by using the software assembly paradigm and our library of robotic skills。 Finally,the manipulator is deployed to perform its task。