Abstract
| Original language | English |
|---|---|
| Qualification | Doctor Degree |
| Awarding Institution |
|
| Supervisors/Advisors |
|
| 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) |
Fingerprint
Keywords
- robots
- control systems
- models
- planning
- monitors
- switching
- fault analysis
- automation
- artificial intelligence
- fuzzy logic
- computer programming
Cite this
}
A control architecture for intelligent robots based on graph manipulation for planning, monitoring, execution, intention switching, and fault recovery : Dissertation. / Hasemann, Jörg-Michael.
Espoo : VTT Technical Research Centre of Finland, 1996. 150 p.Research output: Thesis › Dissertation › Monograph
TY - THES
T1 - A control architecture for intelligent robots based on graph manipulation for planning, monitoring, execution, intention switching, and fault recovery
T2 - Dissertation
AU - Hasemann, Jörg-Michael
N1 - Project code: A6SU00162
PY - 1996
Y1 - 1996
N2 - 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.
AB - 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.
KW - robots
KW - control systems
KW - models
KW - planning
KW - monitors
KW - switching
KW - fault analysis
KW - automation
KW - artificial intelligence
KW - fuzzy logic
KW - computer programming
M3 - Dissertation
SN - 951-38-4941-4
T3 - VTT Publications
PB - VTT Technical Research Centre of Finland
CY - Espoo
ER -