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A world model based approach to manipulator control

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2 Author(s)
M. W. Walker ; Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA ; J. Dionise

A dynamic world model is presented on which all planning, sensing, and control functions are based. A planning system that specifies how tasks are to be performed and the method used for sensing the state of the task are presented. The objectives of the control law and the algorithm used in the controller are given. Practical considerations are addressed, and some important details, such as the use of the null task, are explained. An example task of opening a door is examined

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990