Title :
A world model based approach to manipulator control
Author :
Walker, Michael W. ; Dionise, Joseph
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
Abstract :
A dynamic world model is presented on which all planning, sensing, and control functions are based. A planning system that specifies how tasks are to be performed and the method used for sensing the state of the task are presented. The objectives of the control law and the algorithm used in the controller are given. Practical considerations are addressed, and some important details, such as the use of the null task, are explained. An example task of opening a door is examined
Keywords :
planning (artificial intelligence); robots; door opening; manipulator control; null task; planning; world model based approach; Artificial intelligence; Casting; Centralized control; Fasteners; Kinematics; Laboratories; Manipulator dynamics; Motion control; Robot control; Sliding mode control;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126019
