Mechatronic systems techniques for intelligent paper roll manipulator systems

A general description of a control systems for a prototype of an intelligent and skilled paper roll manipulator is given.The elementary operations related to both manipulations and environment observations are described, and explanation regarding the integration of these with a hierarchically organized planning-executing-monitoring (PEM) architecture is given.The kernel of PEM architecture is a goal-oriented module consisting of these three principle parts.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 during pick up and in placing the paper roll against other paper rolls and a support, e.g. the walls of a ship.For coarse recognition of the environmnet a 3D laser device is used.The accurate position of paper rolls in the pick up phases is measured with the aid of a laser scanner, and the final force constrained placement is carried out based on measurements of spring forces of the flexible tool attachment mechanism or hydraulic pressures of the manipulator system.