DocumentCode
2522874
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
fYear
1990
fDate
13-18 May 1990
Firstpage
1866
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126280
Filename
126280
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