DocumentCode :
3455127
Title :
Task-level adaptation using a discrete event controller for robotic assembly
Author :
McCarragher, Brenan J.
Author_Institution :
Interdisciplinary Eng. Program, Australian Nat. Univ., Canberra, ACT, Australia
Volume :
3
fYear :
1993
fDate :
26-30 Jul 1993
Firstpage :
2281
Abstract :
A task-level adaptive controller is presented for the discrete event control of robotic assembly tasks. Using a Petri net model of the assembly task, velocity constraints are derived from which desired velocity commands are obtained. Due to modeling errors and uncertainties, the velocity commands may result in a suboptimal, unwanted contacts between the workpiece and the environment. Simple vector addition is used to adapt the velocity commands so as to avoid the unwanted contacts. Gram-Schmidt orthogonalization is used to ensure that the adaptation does not violate any geometric constraints. An example is given with experimental results, demonstrating the viability and success of the adaptation method
Keywords :
Petri nets; Gram-Schmidt orthogonalization; Petri net; discrete event control; discrete event controller; robotic assembly; task-level adaptive controller; Adaptive control; Assembly systems; Australia; Error correction; Humans; Petri nets; Programmable control; Robot control; Robotic assembly; Uncertainty;
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.1993.583944
Filename :
583944
Link To Document :
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