MARS software model for modeling modular manipulators

Details MARS software model for modeling modular manipulators MARS software model for modeling modular manipulators

Oct 2001

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2001spie.4571..178m&link_type=abstract

Proc. SPIE Vol. 4571, p. 178-188, Sensor Fusion and Decentralized Control in Robotic Systems IV, Gerard T. McKee; Paul S. Schenk

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Scientific paper

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.

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