Title :
Control primitives for robot systems
Author :
Deno, D. Curtis ; Murray, Richard M. ; Pister, Kristofer S J ; Sastry, S. Shankar
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
A methodology is developed for describing of hierarchical control of robot systems in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to encompass a wide variety of systems. A consistent set of primitive operations which form the core of a robot system description and control language is presented. This language, motivated by the hierarchical organization of neuromuscular systems, is capable of describing a large class of robot systems under a variety of single-level and distributed control schemes
Keywords :
distributed control; dynamics; kinematics; robots; control primitives; distributed control; dynamics; hierarchical control; kinematics; robot systems; single-level control; Control systems; Data structures; Equations; Feedback loop; Laboratories; Lagrangian functions; Manipulator dynamics; Robot control; Robot kinematics;
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.1990.126280
