Visually guided coordination for distributed precision assembly

摘要

We document our initial efforts to instantiate visually-guided cooperative behaviors between robotic agents in the minifactory environment. The minifactory incorporates high-precision, 2-DOF robotic agents to perform micron-level precision 4-DOF assembly tasks. Here we utilize two minifactory agents to perform visual servoing. We present a detailed description of the control and communication systems used to coordinate the agents. To provide a suitable communications infrastructure, we describe the development of a new interagent communication system which uses low-latency protocols carried by a commercial 100 Mb Ethernet network. Finally, we conclude by presenting experimental results front our first coordinated multi-agent task, the visually guided positioning of a small medical device.