Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Mechatronic systems techniques and applicatons |
| Subtitle of host publication | Electromechanical Systems |
| Publisher | Gordon and Breach Science Publishers |
| Pages | 231-297 |
| Volume | 4 |
| ISBN (Print) | 978-90-5699-678-9 |
| Publication status | Published - 2000 |
| MoE publication type | Not Eligible |