A skilled and intelligent paper roll manipulator

Tapio Heikkilä, Pentti Vähä, Jyrki Okkonen

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    1 Citation (Scopus)


    A general description of a control system for a prototype of an intelligent and skilled paper roll manipulator (PRM) is given. The elementary operations related to both manipulations and environment observations are described, and integrating these with a hierarchically organized planning-executing-monitoring architecture (PEM) is discussed. The kernel of PEM architecture is a goal-oriented module consisting of these three principal parts. The motion control of the paper roll manipulator is divided into free motion (gross motion) and force-constrained motion (fine motion) phases. Gross motion control takes the paper roll from the starting position to the vicinity of the goal position, whereas the fine motion control is used in placing the paper roll against other paper rolls and the support. For coarse recognition of the environment a 3D laser device is used. The accurate position of paper rolls in the picking phases is measured with the aid of an ultrasonic sensor system, and the final force constrained placement is carried out with force sensing based on measurements of hydraulic pressures of the manipulator system.
    Original languageEnglish
    Title of host publicationProceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)
    PublisherIEEE Institute of Electrical and Electronic Engineers
    ISBN (Print)978-0-7803-0823-7
    Publication statusPublished - 1993
    MoE publication typeA4 Article in a conference publication
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Japan
    Duration: 26 Jun 199330 Jun 1993


    ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
    Abbreviated titleIROS 93


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