1A2-C07 Development of Model Robot Based on Multi Agent System : Development of Robot Simulator using LabVIEW, and a Communications among the Agents(Evolution and Learning for Robotics(2))

Abstract

This paper presents the development of model robot based on multi agent system. We have proposed kinematics computing framework for flexible robot control using multi agent system (MAS). An agent consists of two elements, a joint mechanism and a control unit. It can compute owns kinematics solution by networking between the agents and transmitting to information on robot motion that analyzed by direct kinematics and inverse kinematics in each agent. This system's validity has confirmed by only simulation. So the purpose of this paper is to development of model robot and to verify the proposed kinematics computing framework using MAS. This paper deals with a development of simulator with LabVIEW and a design method to communication between the agents.