A task level control and simulation system for interactive robotics

Aarne Halme, Tapio Heikkilä, Timo Torvikoski

    Research output: Contribution to journalArticle in a proceedings journalScientificpeer-review


    A very flexible control scheme based on man-robot interaction has been introduced. The robot control system with a high level command language utilizes environment modelling and task-oriented control method. Robust environment modelling is done by the user by describing with a special 3D-measuring device necessary features of the real environment. Tasks are defined and programmed on-line at the working environment and the user can supervise the robot immediately during task execution if necessary. By using sensor technology and appropriate signs the model based control is adapted to the real environment. The paper describes a microcomputer based control system and microrobot based workcell with some programming examples.
    Original languageEnglish
    Pages (from-to)289-296
    JournalIFAC Proceedings Volumes
    Issue number14
    Publication statusPublished - 1986
    MoE publication typeA4 Article in a conference publication
    EventIFAC/IFIP/IMACS Symposium on Theory of Robots - Vienna, Austria
    Duration: 3 Dec 19865 Dec 1986


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