Multibehavioral position–force manipulator controller

Tomasz Winiarski , Konrad Banachowicz , Michał Walęcki , J. Bohren

Abstract

In the article the whole process of a manipulator controller development is presented. The controller is designed for the execution of various benchmark tasks in the field of service robotics. Initially, a set of system behaviors is presented as the base of the universal controller structure. For that purpose the embodied agent theory and the System Modeling Language are utilized. The execution and switching between the behaviors relies on a particular algorithm. The control system is verified on a two arm robotic system that consists of position-controlled industrial manipulators and a number of extra force/torque sensors and cameras.
Author Tomasz Winiarski IAiIS
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
, Konrad Banachowicz IAiIS
Konrad Banachowicz,,
- The Institute of Control and Computation Engineering
, Michał Walęcki IAiIS
Michał Walęcki,,
- The Institute of Control and Computation Engineering
, J. Bohren
J. Bohren,,
-
Pages651-656
Publication size in sheets0.5
Book Proceedings of 21st IEEE Conference on Method and Models in Automation and Robotics, 2016, IEEE Institute of electrical and Electronics Engineers, ISBN 978-1-5090-1715-7, 1285 p., DOI:10.1109/MMAR.2016.7575223
DOIDOI:10.1109/MMAR.2016.7575213
URL http://ieeexplore.ieee.org/document/7575213/
projectMethodology of design and implementation of multi-sensory robotic systems for service purposes. Project leader: Winiarski Tomasz, , Phone: 7649, 7117, start date 01-02-2013, planned end date 31-01-2016, end date 03-10-2016, 505M/1031/0043, Completed
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Languageen angielski
File
Winiarski i in _multibehavioral mmar16.pdf (file archived - login or check accessibility on faculty) Winiarski i in _multibehavioral mmar16.pdf 1.73 MB
Score (nominal)15
ScoreMinisterial score = 15.0, 27-03-2017, BookChapterMatConf
Ministerial score (2013-2016) = 15.0, 27-03-2017, BookChapterMatConf
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