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 |
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| Hauptverfasser: | , |
| Format: | Tagungsbericht |
| Sprache: | Englisch |
| Veröffentlicht: |
IEEE
1990
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| ISBN: | 0879426004, 9780879426002 |
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| Abstract | 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.< > |
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| AbstractList | 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.< > |
| Author | Gao, W. Yao, B. |
| Author_xml | – sequence: 1 givenname: W. surname: Gao fullname: Gao, W. organization: Seventh Res. Div., Beijing Inst. of Aeronaut. & Astronaut., China – sequence: 2 givenname: B. surname: Yao fullname: Yao, B. organization: Seventh Res. Div., Beijing Inst. of Aeronaut. & Astronaut., China |
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| PublicationTitle | IECON' 90 : 16th annual conference of IEEE Industrial Electronics Society : November 27-30, 1990, Asilomar Conference Center, Pacific Grove, California |
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| Snippet | 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... |
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| SubjectTerms | Computer architecture Control systems Equations Gravity Mathematical model Motion control Robot control Robot kinematics Tracking |
| Title | Master-helper control strategy to robotic systems in tracking an object subject to environmental constraints |
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