2P2-G06 Development of Simulator for Distributed Robot Control by using Multi Agent System Configuration Toolkit

Abstract

This study deals with development of simulator for the distributed robot control system. In the distributed robot control system, active parts of a robot arm such as motors and links are modeled as software components which make performance according to states of other components based on exchanging messages. This paper reports the development of the simulator for evaluating the distributed robot control system and estimating possibilities for actual robot arm control system, and case studies of redundant robot arm applications.