TRACS Users Manual and Software Reference Guide

The Two Robotic Arm Coordination System (TRACS) of the GRASP Lab is designed to perform experiments in dynamic two arm control. The system is comprised of two PUMA 250 robot arms with modified controllers, a PA-AT host computer and an AMD 29000 high speed floating point processor board. This manual describes the system software architecture and the software interfaces between the system elements. It is intended to aid in developing software for the system

Multi-Arm Manipulation of Large Objects With Rolling Contacts

The problem of manipulating objects which are relatively larger than the size of the manipulators is investigated. Large objects without special features such as handles can not be grasped easily by the conventional end effectors such as parallel-jaw grippers or multi-fingered hands. This work focuses on the manipulation of large objects in the plane and analyzes the contact interactions. The flat surface effectors of planar three link manipulators interact with the object. The dynamics of the object and the manipulators are included in the equations of motion that govern the planar manipulation system. The contacts between the link surface and the object can be characterized by rolling, sliding, and separation. This study focuses on rolling which is explicitly included in the dynamic model of the system. Contact separation is avoided by enforcing the unilateral constraint that each manipulator must push at the contact point. Sliding is avoided by constraining the applied force to fall within the contact friction cone. The dynamic coordination between multiple manipulators is achieved by simultaneously regulating the motion of the object and the critical contact force. Control algorithms are developed that employ nonlinear feedback to linearize and decouple the system. A motion and force planner is developed which incorporates the unilateral constraints into the system. The motion planner also specifies the rolling motion for each contact. Rolling enables the system to avoid slipping by repositioning the contact points such that forces are applied along the surface normals. The calculations of the rolling motion planner are based on the dynamics of the object, the measured external disturbance forces, and desired critical contact force. Extensions of the analysis are investigated by relaxing certain key assumptions. Results from simulation and experimentation are presented to verify the efficacy of the theory and to provide insight into the issues of practical implementation

TRACS: An Experimental Multiagent Robotic System

TRACS (Two Robotic Arm Coordination System), developed at the GRASP Laboratory at University of Pennsylvania, is an experimental system for studying dynamically coordinated control of multiple robotic manipulators. The systems is used to investigate such issues as the design of controller architectures, development of real-time control and coordination programming environments, integration of sensory devices, and implementation of dynamic coordination algorithms. The system consists two PUMA 250 robot arms and custom-made end effectors for manipulation and grasping. The controller is based an IBM PC/AT for its simplicity in I/O interface, ease of real-time programming, and availability of low-cost supporting devices. The Intel 286 in the PC is aided by a high speed AMD 29000 based floating point processor board. They are pipelined in such a way that the AMD 29000 processor performs real-time computations and the Intel 286 carries out I/O operations. The system is capable of implementing dynamic coordinated control of the two manipulators at 200 Hz. TRACS utilizes a C library called MO to provide the real-time programming environment. An effort has been made to separate hardware-dependent code from hardware-independent code. As such, MO is used in the laboratory to control different robots on different operating systems (MS-DOS and Unix) with minimal changes in hardware-dependent code such as reading encoders and setting joint torques. TRACS utilizes all off-the-shelf hardware components. Further, the adoption of MS-DOS instead of Unix or Unix-based real-time operating systems makes the real-time programming simple and minimizes the interrupt latencies. The feasibility of the system is demonstrated by a series of experiments of grasping and manipulating common objects by two manipulators

Control of Rolling Contacts in Multi-Arm Manipulation

When multiple arms are used to manipulate a large object, it is beneficial and sometimes necessary to maintain and control contacts between the object and the effector (the contacting surface of an arm) through force closure. Rolling and/or sliding can occur at these contacts, and the system is characterized by holonomic as well as nonholonomic (including unilateral) constraints. In this paper, the control of planar rolling contacts is investigated. Multi-arm manipulation systems are typically redundant. In our approach, a minimal set of inputs is employed to control the trajectory of the system while the surplus inputs control the contact condition. The trajectory includes the gross motion of the object as well as the rolling motion at the contacts. A nonlinear feedback scheme for simultaneous control of motion as well as contact conditions is presented. A new algorithm which adapts a two-effector grasp with rolling contacts to external loads and the trajectory is developed. Simulations and experimental results are used to illustrate the salient features in control and planning

Control of Multiple Arm Systems With Rolling Constraints

When multiple arms are used to manipulate a large object, it is necessary to maintain and control contacts between the object and effector(s) on one or more arms. The contacts are characterized by holonomic as well as nonholonomic constraints. This paper addresses the control of mechanical systems subject to nonholonomic constraints, rolling constraints in particular. It has been shown that such a system is always controllable, but cannot be stabilized to a single equilibrium by smooth feedback [l, 2]. In this paper, we show that the system is not input-state linearizable though input-output linearization is possible with appropriate output equations. Further, if the system is position-controlled (i.e., the output equation is a functions of position variables only), it has a zero dynamics which is Lagrange stable but not asymptotically stable. We discuss the analysis and controller design for planar as well as spatial multi-arm systems and present results from computer simulations to demonstrate the theoretical results

Important Considerations in Force Control With Applications to Multi-Arm Manipulation

This paper addresses force control in overconstrained dynamic systems with special emphasis on robot control and multiarm coordination. Previous approaches to force control are studied and many of these are shown to be unsuitable for dynamic force control. Practical and theoretical considerations for designing force control algorithms are discussed. Experimental and simulation results that validate the theoretical findings are presented for a single-degree-of-freedom pneumatic force controller. Finally the theoretical development of a two-arm manipulation system with an extended statespace formulation and a computer simulation of the system are presented to illustrate the application of the basic ideas to a more complicated system

Post-mortem correlates of in vivo PiB-PET amyloid imaging in a typical case of Alzheimer's disease

The positron emission tomography (PET) radiotracer Pittsburgh Compound-B (PiB) binds with high affinity to β-pleated sheet aggregates of the amyloid-β (Aβ) peptide in vitro. The in vivo retention of PiB in brains of people with Alzheimer's disease shows a regional distribution that is very similar to distribution of Aβ deposits observed post-mortem. However, the basis for regional variations in PiB binding in vivo, and the extent to which it binds to different types of Aβ-containing plaques and tau-containing neurofibrillary tangles (NFT), has not been thoroughly investigated. The present study examined 28 clinically diagnosed and autopsy-confirmed Alzheimer's disease subjects, including one Alzheimer's disease subject who had undergone PiB-PET imaging 10 months prior to death, to evaluate region- and substrate-specific binding of the highly fluorescent PiB derivative 6-CN-PiB. These data were then correlated with region-matched Aβ plaque load and peptide levels, [3H]PiB binding in vitro, and in vivo PET retention levels. We found that in Alzheimer's disease brain tissue sections, the preponderance of 6-CN-PiB binding is in plaques immunoreactive to either Aβ42 or Aβ40, and to vascular Aβ deposits. 6-CN-PiB labelling was most robust in compact/cored plaques in the prefrontal and temporal cortices. While diffuse plaques, including those in caudate nucleus and presubiculum, were less prominently labelled, amorphous Aβ plaques in the cerebellum were not detectable with 6-CN-PiB. Only a small subset of NFT were 6-CN-PiB positive; these resembled extracellular ‘ghost’ NFT. In Alzheimer's disease brain tissue homogenates, there was a direct correlation between [3H]PiB binding and insoluble Aβ peptide levels. In the Alzheimer's disease subject who underwent PiB-PET prior to death, in vivo PiB retention levels correlated directly with region-matched post-mortem measures of [3H]PiB binding, insoluble Aβ peptide levels, 6-CN-PiB- and Aβ plaque load, but not with measures of NFT. These results demonstrate, in a typical Alzheimer's disease brain, that PiB binding is highly selective for insoluble (fibrillar) Aβ deposits, and not for neurofibrillary pathology. The strong direct correlation of in vivo PiB retention with region-matched quantitative analyses of Aβ plaques in the same subject supports the validity of PiB-PET imaging as a method for in vivo evaluation of Aβ plaque burden

Multi-arm manipulation of large objects with rolling contacts

The problem of manipulating objects which are relatively larger than the size of the manipulators is investigated. Large objects without special features such as handles can not be grasped easily by the conventional end effectors such as parallel-jaw grippers or multi-fingered hands. This work focuses on the manipulation of large objects in the plane and analyzes the contact interactions. The flat surface effectors of planar three link manipulators interact with the object. The dynamics of the object and the manipulators are included in the equations of motion that govern the planar manipulation system. The contacts between the link surface and the object can be characterized by rolling, sliding, and separation. This study focuses on rolling which is explicitly included in the dynamic model of the system. Contact separation is avoided by enforcing the unilateral constraint that each manipulator must push at the contact point. Sliding is avoided by constraining the applied force to fall within the contact friction cone. The dynamic coordination between multiple manipulators is achieved by simultaneously regulating the motion of the object and the critical contact force. Control algorithms are developed that employ nonlinear feedback to linearize and decouple the system. A motion and force planner is developed which incorporates the unilateral constraints into the system. The motion planner also specifies the rolling motion for each contact. Rolling enables the system to avoid slipping by repositioning the contact points such that forces are applied along the surface normals. The calculations of the rolling motion planner are based on the dynamics of the object, the measured external disturbance forces, and desired critical contact force. Extensions of the analysis are investigated by relaxing certain key assumptions. Results from simulation and experimentation are presented to verify the efficacy of the theory and to provide insight into the issues of practical implementation

October 1990TRACS: The Hardware and Software Architecture of a New Two Robotic Arm Coordination System

This paper presents the hardware and software architecture implemented in the Two Robotic Arm Coordination System (TRACS) at the GRASP Lab of the University of Pennsylvania. It is developed to perform experiments on dynamically coordinated control of multiple robotic manipulators. Its architecture avoids complexities and allows the user to easily implement desired control algorithms. This system controls two PUMA 250 robot manipulators, each with 6 DOF. The IBM PC-AT is chosen as the host computer because of its ease in real-time programming, simplicity of I/O interfacing, and low cost of hardware and maintenance. The Intel 286 processor of the PC-AT is aided by a AMD 29000 high speed floating point processor based board. Together, the 286 provides the real-time environment and performs sensor and manipulator I/O while the AMD 29000 calculates the real-time control algorithms. TRACS incorporates MO, a C library of routines being developed in the Grasp Lab to control robots. MO separates hardware dependent software from hardware independent code and provides the user with a virtual robot interface. End-effectors are built to perform two arm grasping and manipulating of large objects. The end-effectors are outfitted with contact/force sensors. The system is capable of controlling of the two cooperative manipulators a