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Article
A Knowledge-Rich Hierarchical Controller for a Redundant Manipulator
Proceedings of the IEEE International Conference on Systems Engineering (1990, Pittsburgh, PA)
  • Levent Acar, Missouri University of Science and Technology
Abstract

In most robotic applications, robotic system’s ability to plan and reason about its environment is desirable. Hierarchies offer flexible organizations for this type of planning and reasoning. In the earlier designs of hierarchical controllers for robotic manipulators, the hierarchies were based on a plan for a specific manipulator motion instead of the physical structure of the manipulator. Recently, the need to incorporate the physical structure as part of the hierarchy was recognized, and a knowledge-rich hierarchical controller was introduced. This hierarchy was formed by various portions of the physical structure, where these portions were enriched by the addition of some relevant knowledge to plan and control. In this paper, a knowledge-rich hierarchical controller for an Intelledex manipulator with six degrees of freedom is considered to demonstrate the motion planning and the control of the manipulator. A simple example of carrying an object from one side of a table to the other side is also included.

Meeting Name
IEEE International Conference on Systems Engineering (1990: Aug. 9-11, Pittsburgh, PA)
Department(s)
Electrical and Computer Engineering
Keywords and Phrases
  • Expert Systems - Inference Engines,
  • Systems Science and Cybernetics - Hierarchical Systems,
  • Hierarchical Controllers,
  • Robots,
  • Industrial
International Standard Book Number (ISBN)
0-7803-0173-0
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 1990 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
Publication Date
8-1-1990
Publication Date
01 Aug 1990
Citation Information
Levent Acar. "A Knowledge-Rich Hierarchical Controller for a Redundant Manipulator" Proceedings of the IEEE International Conference on Systems Engineering (1990, Pittsburgh, PA) (1990) p. 9 - 12
Available at: http://works.bepress.com/levent-acar/46/