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...
Uložené v:
| Vydané v: | 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 |
|---|---|
| Hlavní autori: | , |
| Médium: | Konferenčný príspevok.. |
| Jazyk: | English |
| Vydavateľské údaje: |
IEEE
1990
|
| Predmet: | |
| ISBN: | 0879426004, 9780879426002 |
| On-line prístup: | Získať plný text |
| Tagy: |
Pridať tag
Žiadne tagy, Buďte prvý, kto otaguje tento záznam!
|
| 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. |
| 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 |
| BookMark | eNotkEFOwzAQRS0BErT0ALDyBVLsZEg8S1QVqFTopvvKdibFJbUr2yDl9qQqf_M0mpm3-BN27YMnxh6kmEsp8Gm1XGw-5xJxnAEllFdsIlSDUNZCwC2bpXQQY-BZlnV9x_oPnTLF4ov6E0Vug88x9DzlqDPtB54Dj8GE7CxPw3h5TNx5Pm7tt_N7rj0P5kA28_Rz4fhA_tfF4I_ks-7PyrPN-Zzu2U2n-0Szf07Z9nW5XbwX683bavGyLpxqcmGUsa3SYMB2CJI0kq4AFJimFChUrStsOyWtQQKL1pqqM62wDcqyIS2qKXu8aB0R7U7RHXUcdpc6qj-cCluq |
| ContentType | Conference Proceeding |
| DBID | 6IE 6IL CBEJK RIE RIL |
| DOI | 10.1109/IECON.1990.149142 |
| DatabaseName | IEEE Electronic Library (IEL) Conference Proceedings IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume IEEE Xplore All Conference Proceedings IEEE Electronic Library (IEL) IEEE Proceedings Order Plans (POP All) 1998-Present |
| DatabaseTitleList | |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EndPage | 231 vol.1 |
| ExternalDocumentID | 149142 |
| GroupedDBID | 6IE 6IK 6IL AAJGR AAWTH ACGHX ALMA_UNASSIGNED_HOLDINGS BEFXN BFFAM BGNUA BKEBE BPEOZ CBEJK OCL RIE RIL |
| ID | FETCH-LOGICAL-i87t-b8bcd8a4b4cf941ea9ea34484b7209086a39df81cb9e4c9ccb3fbd0c79127ea03 |
| IEDL.DBID | RIE |
| ISBN | 0879426004 9780879426002 |
| IngestDate | Tue Aug 26 17:11:33 EDT 2025 |
| IsPeerReviewed | false |
| IsScholarly | false |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-i87t-b8bcd8a4b4cf941ea9ea34484b7209086a39df81cb9e4c9ccb3fbd0c79127ea03 |
| ParticipantIDs | ieee_primary_149142 |
| PublicationCentury | 1900 |
| PublicationDate | 19900000 |
| PublicationDateYYYYMMDD | 1990-01-01 |
| PublicationDate_xml | – year: 1990 text: 19900000 |
| PublicationDecade | 1990 |
| PublicationTitle | IECON' 90 : 16th annual conference of IEEE Industrial Electronics Society : November 27-30, 1990, Asilomar Conference Center, Pacific Grove, California |
| PublicationTitleAbbrev | IECON |
| PublicationYear | 1990 |
| Publisher | IEEE |
| Publisher_xml | – name: IEEE |
| SSID | ssj0000451266 |
| Score | 1.2093792 |
| 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... |
| SourceID | ieee |
| SourceType | Publisher |
| 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 |
| URI | https://ieeexplore.ieee.org/document/149142 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlZ3PS8MwFMeDDg96UefE3-Tgta5ZsyY5i0NBxw5DdhtJ-oqD0Y62E_bfm5fUOcGLpzYtDSEvNMnL-34eIffxUOfacGcBEGnETZZGxmIEwBBx51wa5rVV769iPJazmZq0nG2vhQEAH3wGD3jrz_Kz0q7RVdZ3q3nG3f92X4g0SLW27hTEpLi5xhMe3RBD7Dpv-Trf5UF7qMli1X_BNIGo1HNlX-mv5Cp-bhkd_6tVJ6T3o9Gjk-3sc0r2oOiSox284BlZvmnEIEQfsFxBRduodFoHIO2GNiWtSlO6oUMD0Lmmi4K6txb951QXtDTopqH1OlzdBzvCOL3EKmufZKKpe2Q6epo-PkdtdoVoIUUTGWlsJjU33OaKM9AKdOL2atyIQazcRkcnKssls0YBt8pak-Qmi61QbCBAx8k56RRlAReEMpnmNrbS6CTnHECCgCFYDm41qWUiL0kXe22-CvyMeeiwqz-fXpNDtEpwctyQTlOt4ZYc2M9mUVd33uZfvSCtBQ |
| linkProvider | IEEE |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlZ3PS8MwFMeDTEG9qHPib3PwWtes2ZKcxbHhNnYYsttI0lccjHa0neB_b15a5wQvntq0NIS80CQv7_t5hDyGXZ1ow50FQPQCbuJeYCxGAHQRd86lYV5b9TYSk4mcz9W05mx7LQwA-OAzeMJbf5YfZ3aDrrK2W80z7v63-5g4qxZrbR0qCEpxs41nPLpBhuB1XhN2vsud-liThao9xESBqNVzZV_tr_Qqfnbpn_yrXaek9aPSo9Pt_HNG9iBtkuMdwOA5WY01ghCCd1itIad1XDotKiTtJy0zmmcmc4OHVkjngi5T6t5a9KBTndLMoKOGFpvq6j7YkcbpFVZZ-DQTZdEis_7L7HkQ1PkVgqUUZWCksbHU3HCbKM5AK9CR261xIzqhclsdHak4kcwaBdwqa02UmDi0QrGOAB1GF6SRZilcEspkL7GhlUZHCecAEgR0wXJw60ktI3lFmthri3VF0FhUHXb959MHcjiYjUeL0XDyekOO0EKVy-OWNMp8A3fkwH6UyyK_9_b_AuwqsE4 |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=IECON%27+90+%3A+16th+annual+conference+of+IEEE+Industrial+Electronics+Society+%3A+November+27-30%2C+1990%2C+Asilomar+Conference+Center%2C+Pacific+Grove%2C+California&rft.atitle=Master-helper+control+strategy+to+robotic+systems+in+tracking+an+object+subject+to+environmental+constraints&rft.au=Gao%2C+W.&rft.au=Yao%2C+B.&rft.date=1990-01-01&rft.pub=IEEE&rft.isbn=9780879426002&rft.spage=226&rft.epage=231+vol.1&rft_id=info:doi/10.1109%2FIECON.1990.149142&rft.externalDocID=149142 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9780879426002/lc.gif&client=summon&freeimage=true |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9780879426002/mc.gif&client=summon&freeimage=true |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9780879426002/sc.gif&client=summon&freeimage=true |