DocumentCode :
309509
Title :
A skilled and intelligent paper roll manipulator
Author :
Heikkilä, Tapio ; Vähä, Pentti ; Okkonen, Jyrki
Author_Institution :
Electron. Lab., Tech. Res. Centre of Finland, Oulu, Finland
Volume :
2
fYear :
1993
fDate :
26-30 Jul 1993
Firstpage :
1201
Abstract :
A general description of a control system for a prototype of an intelligent and skilled paper roll manipulator (PRM) is given. The elementary operations related to both manipulations and environment observations are described, and integrating these with a hierarchically organized planning-executing-monitoring architecture (PEM) is discussed. The kernel of PEM architecture is a goal-oriented module consisting of these three principal parts. The motion control of the paper roll manipulator is divided into free motion (gross motion) and force-constrained motion (fine motion) phases. Gross motion control takes the paper roll from the starting position to the vicinity of the goal position, whereas the fine motion control is used in placing the paper roll against other paper rolls and the support. For coarse recognition of the environment a 3D laser device is used. The accurate position of paper rolls in the picking phases is measured with the aid of an ultrasonic sensor system, and the final force constrained placement is carried out with force sensing based on measurements of hydraulic pressures of the manipulator system
Keywords :
paper industry; 3D laser device; PEM; PRM; coarse recognition; control system; elementary operations; environment observations; fine motion; force constrained placement; force-constrained motion; free motion; goal-oriented module; gross motion; hierarchically organized planning-executing-monitoring architecture; hydraulic pressures; intelligent paper roll manipulator; motion control; picking phases; skilled paper roll manipulator; ultrasonic sensor system; Control systems; Force measurement; Force sensors; Kernel; Motion control; Phase measurement; Position measurement; Prototypes; Sensor systems; Ultrasonic variables measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
Type :
conf
DOI :
10.1109/IROS.1993.583359
Filename :
583359
Link To Document :
بازگشت