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Proceedings Paper

MARS software model for modeling modular manipulators
Author(s): Gerard T. McKee; J. Andrew Fryer; Paul S. Schenker
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Paper Abstract

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.

Paper Details

Date Published: 4 October 2001
PDF: 11 pages
Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444159
Show Author Affiliations
Gerard T. McKee, Univ. of Reading (United Kingdom)
J. Andrew Fryer, Univ. of Reading (United Kingdom)
Paul S. Schenker, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 4571:
Sensor Fusion and Decentralized Control in Robotic Systems IV
Gerard T. McKee; Paul S. Schenker, Editor(s)

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