Abstract
A new robot control architecture is proposed which
combines the functions
of planning, intention switching, execution, plan
validity and plan
execution monitoring, and fault recovery. Emphasis is
placed on providing a
technological basis for building control systems for
intelligent robots by
modeling these functionalities using simple, though
powerful, graph
manipulation techniques and introducing different types
of plan components
for monitoring, planning, and execution using an
object-oriented design
approach.
The proposed architecture is related to existing
approaches and results
obtained from the research areas of monitoring and
planning. An
implementation of the architecture is described with
results from tests in
a simulated environment being reported. A new method for
grasp and motion
planning based on hierarchical fuzzy logic rule sets is
presented and its
feasibility is verified by applying it to an industrial
paper roll
manipulator.
| Original language | English |
|---|---|
| Qualification | Doctor Degree |
| Awarding Institution |
|
| Supervisors/Advisors |
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| Award date | 30 Aug 1996 |
| Place of Publication | Espoo |
| Publisher | |
| Print ISBNs | 951-38-4941-4 |
| Publication status | Published - 1996 |
| MoE publication type | G4 Doctoral dissertation (monograph) |
Keywords
- robots
- control systems
- models
- planning
- monitors
- switching
- fault analysis
- automation
- artificial intelligence
- fuzzy logic
- computer programming