Motion description and control for a tele-manipulator system based on MDL

Abstract

A novel control strategy based on motion description language (MDL) is proposed in this paper, to distribute computational and communication resources in a particular tele-robotic system. On one hand, limited bandwidth, random time delay and other transmission problems of Internet make it necessary to reduce data transferred between master and slave site. On the other hand, remote robotic system has a fairly good autonomy. As a result, it is preferable to transmit high-level discrete commands between master and slave site. In this paper, a symbolic-based control framework based on MDL is put forward and implemented on a tele-manipulator system. Especially, open-loop and closed-loop component are obtained based on the resolved motion method, termination conditions for atoms are acquired from the point of view optimization problem. The obvious characteristic of the new method is that control commands have a linguistic flavor, data transferred between operator and remote robot can be reduced accordingly. A prototype tele-robotic system based on MDL is constructed and the experiment results validate the efficiency of the proposed method. © 2011 IEEE.