Hybrid Dynamic Modeling and Control of Constrained Manipulation Systems  

Oleh:

McCarragher, B. J. ; Hovland, G. ; Sikka, P. ; Aigner, P. ; Austin, D.

Jenis: Article from Bulletin/Magazine
Dalam koleksi: Robotics & Automation Magazine vol. 4 no. 2 (1997), page 27-44.
Topik: MARKET MANIPULATION; hybrid; dynamic; modelling; control; manipulation system

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: RR9.2 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

Discrete event systems are presented as a powerful framework for a large number of robot control tasks. This paper presents a general description of the discrete event modeling and control synthesis for robot manipulation. Additionally, methods for the effective monitoring of the process based on the detection and identification of discrete events are given. The effectiveness and versatility of the approach are demonstrated through a wide variety of experiments. Applications are demonstrated in assembly, online training of robots, advanced perception capabilities, human - robot shared control and the understanding of human manipulation skills.

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