A task level control and simulation system for interactive robotics

Aarne Halme; Tapio Heikkilä; Timo Torvikoski

doi:10.1016/S1474-6670(17)59493-8

A task level control and simulation system for interactive robotics

Aarne Halme, Tapio Heikkilä, Timo Torvikoski

Research output: Contribution to journal › Article in a proceedings journal › Scientific › peer-review

Abstract

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 language	English
Pages (from-to)	289-296
Journal	IFAC Proceedings Volumes
Volume	19
Issue number	14
DOIs	https://doi.org/10.1016/S1474-6670(17)59493-8
Publication status	Published - 1986
MoE publication type	A4 Article in a conference publication
Event	IFAC/IFIP/IMACS Symposium on Theory of Robots - Vienna, Austria Duration: 3 Dec 1986 → 5 Dec 1986

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10.1016/S1474-6670(17)59493-8

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title = "A task level control and simulation system for interactive robotics",

abstract = "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.",

author = "Aarne Halme and Tapio Heikkil{\"a} and Timo Torvikoski",

year = "1986",

doi = "10.1016/S1474-6670(17)59493-8",

language = "English",

volume = "19",

pages = "289--296",

journal = "IFAC Proceedings Volumes",

issn = "1474-6670",

publisher = "IFAC Secretariat",

number = "14",

note = "IFAC/IFIP/IMACS Symposium on Theory of Robots ; Conference date: 03-12-1986 Through 05-12-1986",

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TY - JOUR

T1 - A task level control and simulation system for interactive robotics

AU - Halme, Aarne

AU - Heikkilä, Tapio

AU - Torvikoski, Timo

PY - 1986

Y1 - 1986

N2 - 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.

AB - 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.

U2 - 10.1016/S1474-6670(17)59493-8

DO - 10.1016/S1474-6670(17)59493-8

M3 - Article in a proceedings journal

SN - 1474-6670

VL - 19

SP - 289

EP - 296

JO - IFAC Proceedings Volumes

JF - IFAC Proceedings Volumes

IS - 14

T2 - IFAC/IFIP/IMACS Symposium on Theory of Robots

Y2 - 3 December 1986 through 5 December 1986

ER -

A task level control and simulation system for interactive robotics

Abstract

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