Intelligent Motion Planning for Safe and Reliable Control of Robot Arms View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

1993

AUTHORS

Tzyh-Jong Tarn , Ning Xi , Antal K. Bejczy

ABSTRACT

This paper presents new robot arm planning and control schemes compatible with sensor-based planning and control. These developments are a central component of robot arm control intelligence and significantly increase the safety and reliability of the robotic system. The schemes use event-based representation of robot arm motion in the task space, and apply time and energy optimization techniques to determine event-based trajectories for given geometric paths in the task space. A new event-based error definition and computation schemes have been introduced and combined with known nonlinear feedback control law, which linearizes and decouples the control in the task space. The new event-based planning and control schemes were experimentally implemented and tested on the 6-DOF position and orientation control of a PUMA 560 robot arm with very good results. More... »

PAGES

243-256

Book

TITLE

Intelligent Systems: Safety, Reliability and Maintainability Issues

ISBN

978-3-642-63438-3
978-3-642-58021-5

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-642-58021-5_17

DOI

http://dx.doi.org/10.1007/978-3-642-58021-5_17

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1025631398


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