An Experimental Framework for Multi-Agents Using RTOS Based Robotic Controllers

Abstract

Thist paper presents a framework for distributed application development containing autonomous manipulator robots, multi-agents based software and real time operating systems. The framework is structured on layers; this approach dissociates hardware from local control loops and high level global control strategy. In our implemented version, the working framework contains an original combinations of two robotic arms, MQX controllers using RTOS and a multi-agent JADE based platform running on PC. This structuring gives to the developer the ability to focus on specific individual modules development which then are integrated in a comprising system. The proposed modular distributed architecture favors reusing, fast refactoring and maintenance of the distributed system. The paper describes the overall structure of the framework, but also the features and functionality of its components. It also highlights the advantages of distributed control based on multi-agents and the flexibility of MQX RTOS controllers running robotic tasks. The interactions between software, controllers and mechanical systems in the time domain are also evaluated. Finally, the implemented strategies will be evaluated in order to be applied for the industrial field.