File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: Integration of real-time planning and control in an unstructured workspace

TitleIntegration of real-time planning and control in an unstructured workspace
Authors
Issue Date1998
Citation
IEEE International Conference on Intelligent Robots and Systems, 1998, v. 3, p. 1485-1490 How to Cite?
AbstractThe real-time planning and control problems of a robot manipulator in an unstructured workspace are considered in this paper. Our goal is to control a robot to follow an unknown path. Difficulties arise when the robot is required to work in an unstructured workspace. Based on multisensor fusion, a novel strategy for integrating real-time planning and control is proposed to deal with the uncertainties in the environment. In the proposed scheme, a new hybrid position/force control strategy is utilized to maintain the contact between the robot and the unknown surface, while a new planner is designed to complete the path-following task without apriori knowledge of the path. In this paper, to achieve intelligent robot manipulation in an unstructured workspace, multi-sensor fusion is employed both for force-torque and visual sensors with complementary observed data compared to the traditional fusion schemes with redundant data.
Persistent Identifierhttp://hdl.handle.net/10722/212696

 

DC FieldValueLanguage
dc.contributor.authorXiao, Di-
dc.contributor.authorGhosh, Bijoy K.-
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.date.accessioned2015-07-28T04:04:43Z-
dc.date.available2015-07-28T04:04:43Z-
dc.date.issued1998-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 1998, v. 3, p. 1485-1490-
dc.identifier.urihttp://hdl.handle.net/10722/212696-
dc.description.abstractThe real-time planning and control problems of a robot manipulator in an unstructured workspace are considered in this paper. Our goal is to control a robot to follow an unknown path. Difficulties arise when the robot is required to work in an unstructured workspace. Based on multisensor fusion, a novel strategy for integrating real-time planning and control is proposed to deal with the uncertainties in the environment. In the proposed scheme, a new hybrid position/force control strategy is utilized to maintain the contact between the robot and the unknown surface, while a new planner is designed to complete the path-following task without apriori knowledge of the path. In this paper, to achieve intelligent robot manipulation in an unstructured workspace, multi-sensor fusion is employed both for force-torque and visual sensors with complementary observed data compared to the traditional fusion schemes with redundant data.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleIntegration of real-time planning and control in an unstructured workspace-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0032312875-
dc.identifier.volume3-
dc.identifier.spage1485-
dc.identifier.epage1490-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats