Romansy 16 pp 229-236 | Cite as

Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers

  • Niak Wu Koh
  • Cezary Zieliński
  • Marcelo H. AngJr.
  • Ser Yong Lim
Part of the CISM Courses and Lectures book series (CISM, volume 487)


Robot control systems generally require a layer that manages, in a modular manner, the hardware or low level control and a supervisory layer which allows task specification for the execution of a task. This paper proposes the transition-function specified controllers as a lower layer, with an improved matrix-based supervisory controller for the high level operations.


Matrix Model Terminal State Flexible Manufacturing System Discrete Event System Robot Controller 
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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Niak Wu Koh
    • 1
  • Cezary Zieliński
    • 2
  • Marcelo H. AngJr.
    • 1
  • Ser Yong Lim
    • 3
  1. 1.Department of Mechanical EngineeringNational University of SingaporeSingapore
  2. 2.Faculty of Electronics and Information TechnologyWarsaw University of TechnologyWarsaw
  3. 3.Singapore Institute of Manufacturing TechnologySingapore

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