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...

Full description

Saved in:
Bibliographic Details
Published inIECON' 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
LanguageEnglish
Published IEEE 1990
Subjects
Computer architecture
Control systems
Equations
Gravity
Mathematical model
Motion control
Robot control
Robot kinematics
Tracking
Online AccessGet full text
ISBN0879426004
9780879426002
DOI10.1109/IECON.1990.149142

Cover

More Information
Summary: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