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The adaptive selection matrix—A key component for sensor-based control of robotic manipulators

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3 Author(s)
Bernd Finkemeyer ; Institut für Robotik und Prozessinformatik at the Technische Universität Carolo-Wilhelmina zu Braunschweig, Mühlenpfordtstraße 23, D-38106, Germany ; Torsten Kröger ; Friedrich M. Wahl

This contribution introduces a generic framework for sensor-based robot motion control. The key contribution is the introduction of an adaptive selection matrix for sensor-based hybrid switched-system control. The overall control system consists of multiple sensors and open- and closed-loop controllers, in-between which the adaptive selection matrix can switch discretely in order to supply command variables for low-level controllers of robotic manipulators. How control signals are chosen, is specified by Manipulation Primitives, which constitute the interface to higher-level programming. This programming paradigm is briefly specified in order to be able to define and execute sensor-guided and sensor-guarded motion commands simultaneously. The resulting control system is freely adaptable depending on the sensor and control requirements of the desired system and/or application.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010