Master-helper control strategy to robotic systems in tracking an object subject to environmental constraints

A hierarchical control strategy is developed for robotic systems (multiple robot systems) holding a rigid body to track a given motion in the presence of environmental constraints. A mathematical formulation of the environmental constraints is introduced which is simple enough in many cases. The con...

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Veröffentlicht in:IECON' 90 : 16th annual conference of IEEE Industrial Electronics Society : November 27-30, 1990, Asilomar Conference Center, Pacific Grove, California S. 226 - 231 vol.1
Hauptverfasser: Gao, W., Yao, B.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 1990
Schlagworte:
Computer architecture
Control systems
Equations
Gravity
Mathematical model
Motion control
Robot control
Robot kinematics
Tracking
ISBN:0879426004, 9780879426002
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Zusammenfassung:A hierarchical control strategy is developed for robotic systems (multiple robot systems) holding a rigid body to track a given motion in the presence of environmental constraints. A mathematical formulation of the environmental constraints is introduced which is simple enough in many cases. The control is constructed following a master-helper control scheme in which the global controller is realized by a self-organizing algorithm. Simulations show that the tracking errors are negligibly small.< >
ISBN:0879426004
9780879426002
DOI:10.1109/IECON.1990.149142