Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers
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.
KeywordsMatrix Model Terminal State Flexible Manufacturing System Discrete Event System Robot Controller
Unable to display preview. Download preview PDF.
- J-Y. Fourquet, V. Padois, P. Chiron, and A. Mauratille. Reactive behavior and dynamic sequencing for nonholonomic mobile manipulators. In IEEE Int. Conference on Computational Intelligence, Robotics and Autonomous Systems, 13–16 December 2005.Google Scholar
- N. W. Koh, M. H. Ang Jr, and S. Y. Lim. Implementation of a matrix-based discrete event controller for robotic tasks. In IEEE Asian Conf. for Industrial Automation and Robotics, 11–13 May 2005a.Google Scholar
- N. W. Koh, M. H. Ang Jr, and S. Y. Lim. Robotic tasks employing an improved matrix-based discrete event controller. In Int. Symp. on Collaborative Research in Applied Science, 7–9 October 2005b.Google Scholar
- N. W. Koh, M. H. Ang Jr, and S. Y. Lim. A theoretical insight to the improved matrix-based supervisory controller. In IEEE Int. Conf. on Computational Intelligence, Robotics and Autonomous Systems, 13–16 December 2005c.Google Scholar
- C. Zielinski. Robot programming methods. DSc thesis, Politechnika Warszawska, 1995.Google Scholar