一种具有事件驱动运动模块切换机构的机器人运动控制系统

Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication Pub Date : 1993-11-03 DOI:10.1109/ROMAN.1993.367700

Y. Katayama, Y. Nanjo, K. Shimokura

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摘要

本文描述的新型运动控制系统具有事件驱动的运动模块切换机制。该机制可以实时修改参考输入，并可以根据传感器信息，为每个事件选择事先准备好的运动模块。这种运动补偿机制在具有不确定性的机器人任务中是有效的。高度模块化和可扩展的控制系统可用于各种机器人任务，如加工和组装。本文介绍了所提出的系统的概念和实现，并给出了一些实验结果来证明其可行性

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A motion control system with event-driven motion-module switching mechanism far robotic manipulators

The new motion control system described in this paper has an event-driven motion-module switching mechanism. This mechanism can modify a reference input in real-time and can, for each event, select a previously prepared motion-module according to sensor information. This motion-compensating mechanism is effective in robot tasks with uncertainties. The highly modular and extendable control system may be useful for various robot tasks such as machining and assembling. This paper describes the concept and implementation of the proposed system and presents some experimental results demonstrating its feasibility.<>

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Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication

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