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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Published in:IECON' 90 : 16th annual conference of IEEE Industrial Electronics Society : November 27-30, 1990, Asilomar Conference Center, Pacific Grove, California pp. 226 - 231 vol.1
Main Authors: Gao, W., Yao, B.
Format: Conference Proceeding
Language:English
Published: IEEE 1990
Subjects:
Computer architecture
Control systems
Equations
Gravity
Mathematical model
Motion control
Robot control
Robot kinematics
Tracking
ISBN:0879426004, 9780879426002
Online Access:Get full text
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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.< >
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.
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  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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StartPage 226
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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