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Conference Paper: Event-based planning and control for multi-robot coordination

TitleEvent-based planning and control for multi-robot coordination
Authors
Issue Date1993
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1993, v. 1, p. 251-257 How to Cite?
AbstractA new planning and control scheme for multi-robot coordination is presented. First, the event-based motion reference is introduced. It drives the system to achieve the best possible coordination. Based on the combination of general task space with the nonlinear feedback technique, hybrid position/force controllers are designed. To improve the performance of force control, the dynamic of joint motors is considered in the force control. For a given task, a task projection operator may be found for each robot with the consideration of redundancy management.
Persistent Identifierhttp://hdl.handle.net/10722/212659
ISSN

 

DC FieldValueLanguage
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, T. J.-
dc.contributor.authorBejczy, A. K.-
dc.date.accessioned2015-07-28T04:04:36Z-
dc.date.available2015-07-28T04:04:36Z-
dc.date.issued1993-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1993, v. 1, p. 251-257-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212659-
dc.description.abstractA new planning and control scheme for multi-robot coordination is presented. First, the event-based motion reference is introduced. It drives the system to achieve the best possible coordination. Based on the combination of general task space with the nonlinear feedback technique, hybrid position/force controllers are designed. To improve the performance of force control, the dynamic of joint motors is considered in the force control. For a given task, a task projection operator may be found for each robot with the consideration of redundancy management.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleEvent-based planning and control for multi-robot coordination-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0027242561-
dc.identifier.volume1-
dc.identifier.spage251-
dc.identifier.epage257-

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