Event—Based Planning and Control for Robotic Systems: Theory and Implementation View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

1998

AUTHORS

Tzyh-Jong Tarn , Ning Xi

ABSTRACT

This paper presents a new planning and control method for robotic systems by introducing a suitable action or motion reference variable other than time, but directly related to the desired and measurable system output, called an event. Closed form solutions for the time and energy optimal motion plans with jerk-free motion constraint are obtained for the first time by introducing a simple change of variable. Combining the closed-form event-based plan with nonlinear feedback control enables the construction of an integrated planning and control scheme where planning becomes a real-time closed-loop process. The equivalence of event-based and time-based representations of nonlinear feedback control is shown, together with an overall system stability criterion. The event-based integrated planning and control scheme is exemplified by a single-arm tracking problem. The application of integrated event-based planning and control enables the robotic system to cope with unexpected and uncertain events in real time, without the need for re-planning actions. The theoretical results are illustrated and verified by experiments. More... »

PAGES

31-59

References to SciGraph publications

Book

TITLE

Essays on Mathematical Robotics

ISBN

978-1-4612-7251-9
978-1-4612-1710-7

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-1-4612-1710-7_2

DOI

http://dx.doi.org/10.1007/978-1-4612-1710-7_2

DIMENSIONS

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