RoManSy 6 pp 322-333 | Cite as

A Model-Based Expert System for Strategical Control Level of Manipulation Robots

  • D. Stokić
  • M. Vukobratović


A new solution of the strategical control level for manipulation robots is presented in the paper. According to our approach the strategical control level includes data base of various approximate models (geometric, kinematic and dynamic) of manipulation robot and various methods which are used for solving various control tasks. The software system for strategical control level is described in global and its operation is presented in detail for one particular control task.


Expert System Safety Factor Collision Avoidance Control Task Real Robot 
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

© Hermes, Paris 1987

Authors and Affiliations

  • D. Stokić
    • 1
  • M. Vukobratović
    • 1
  1. 1.Mihailo Pupin InstituteBeogradYugoslavia

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