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Titolo:
PATH-BASED APPROACH TO INTEGRATED PLANNING AND CONTROL FOR ROBOTIC SYSTEMS
Autore:
TARN TJ; XI N; BEJCZY AK;
Indirizzi:
WASHINGTON UNIV,CTR ROBOT & AUTOMAT,CAMPUS BOX 1040,CUPPLES 2,ROOM 103,1 BROOKINGS DR ST LOUIS MO 63130 CALTECH,JET PROP LAB PASADENA CA 91109
Titolo Testata:
Automatica
fascicolo: 12, volume: 32, anno: 1996,
pagine: 1675 - 1687
SICI:
0005-1098(1996)32:12<1675:PATIPA>2.0.ZU;2-5
Fonte:
ISI
Lingua:
ENG
Soggetto:
MANIPULATORS;
Keywords:
ROBOT CONTROL; EVENT-BASED MOTION PLANNING; TASK-LEVEL CONTROL; SYSTEM INTEGRATION; INTELLIGENT;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
Science Citation Index Expanded
Citazioni:
29
Recensione:
Indirizzi per estratti:
Citazione:
T.J. Tarn et al., "PATH-BASED APPROACH TO INTEGRATED PLANNING AND CONTROL FOR ROBOTIC SYSTEMS", Automatica, 32(12), 1996, pp. 1675-1687

Abstract

Our newly developed event-based planning and control theory is applied to robotic systems. It introduces a suitable action or motion reference variable other than time, but directly related to the desired and measurable system output, called event. Here the event is the length of the path tracked by a robot. It enables the construction of an integrated planning and control system where planning becomes a real-time closed-loop process. The path-based integration planning and control scheme is exemplified by a single-arm tracking problem. Time and energy optimal motion plans combined with nonlinear feedback control are derived in closed form. To the best of our knowledge, this closed-form solution was not obtained before. The equivalence of path-based and time-based representations of nonlinear feedback control is shown, and an overall system stability criterion has also been obtained. The application of event-based integrated planning and control provides the robotic systems the capability to cope with unexpected and uncertain events in real time, without the need for replanning. The theoretical resultsare illustrated and verified by experiments. Copyright (C) 1996 Elsevier Science Ltd.

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Documento generato il 28/11/20 alle ore 21:38:20