tailieunhanh - Advances in Robot Manipulators Part 5

Tham khảo tài liệu 'advances in robot manipulators part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 152 Advances in Robot Manipulators Fig. 8. Class diagram for Tic Tac Toe game As described above sensors were integrated to the system to detect the presence of pieces on nineteen different positions of the board. Another presence sensor currently a single switch was also included to detect the presence of a human being into the shared workspace. The states of these twenty presence sensors are monitored by a client application that fires UDP User Datagram Protocol messages into the local network. Thus using an UDP server UDPMessageReceiver the system allows asynchronous messages reading and performing event passing through appropriated listener implementations. The current positions for servomotors were obtained by the system using an encoder monitor which submits TCP Transmission Control Protocol requisitions to the target that controls the robot. TCP messages are also sent to the target by MotorActuator to reposition the servomotors according the current states of their virtual representations by means of ServoMotor class instances. As mentioned listeners were used to provide events communication about states changing across objects into the virtual environment representation. Every change among virtual and real environments is communicated using TCP or UDP messages allowing the distribution of the system components and the integration between high and low-level layers of the architecture. 5. Conclusion In this chapter was presented a new architecture for robot control which provides layers including deliberative behaviour on robot operation. The other features of the proposed Collaborative rules operating manipulators 153 model refer to the explicit definition of local and global contexts and its operating support for distributed environments. The collaboration among robots and human beings was described using a symbolic representation through a formal model of rules. This approach was successfully experimented in restricted situations describing human-robot .