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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)

Abstract

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.

Keywords

Matrix Model Terminal State Flexible Manufacturing System Discrete Event System Robot Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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