TOWARDS OPTIMAL CONTROL OF SELF-ORGANIZED ROBOTIC INSPECTION SYSTEMS
نویسندگان
چکیده
منابع مشابه
Towards Optimal Control of Self-organized Robotic Inspection Systems
We consider a swarm-intelligent inspection system concerned with the inspection of blades in a jet turbine. The system is based on a swarm of autonomous, miniature robots, using only on-board, local sensors. We capture the dynamics of the system at a higher abstraction level using non-spatial, probabilistic, discrete-time macroscopic models, which we use in an optimal control framework to find ...
متن کاملSelf-organized multi-modular Robotic Control
In the present paper we show that a set of self-organizing modules can produce complex Behaviors in a robot consisting of a Car that carries an articulated arm. The free end of the arm has an IR sensor that senses an environmental IR Beacon. The self-organization is implemented through self-inactivating modules. Every module moves, stepwise, a different motor(or set of concurrent motors) of the...
متن کاملDiscrete-time repetitive optimal control: Robotic manipulators
This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2006
ISSN: 1474-6670
DOI: 10.3182/20060906-3-it-2910.00052