Dynamic Modelling and Control of Constrainedmanipulation Systems
نویسندگان
چکیده
Discrete event systems are presented as a powerful framework for a large number of robot control tasks. This paper presents a general description of the discrete event modelling and control synthesis for robot manipulation. Additionally, methods for the eeec-tive monitoring of the process based on the detection and identiication of discrete events are given. The eeectiveness and versatility of the approach are demonstrated through a wide variety of experiments. Applications are demonstrated in assembly, on-line training of robots, advanced perception capabilities, human-robot shared control, and the understanding of human manipulation skills.
منابع مشابه
Modelling and Decision-making on Deteriorating Production Systems using Stochastic Dynamic Programming Approach
This study aimed at presenting a method for formulating optimal production, repair and replacement policies. The system was based on the production rate of defective parts and machine repairs and then was set up to optimize maintenance activities and related costs. The machine is either repaired or replaced. The machine is changed completely in the replacement process, but the productio...
متن کاملLiterature Review of Traffic Assignment: Static and Dynamic
Rapid urban growth is resulting into increase in travel demand and private vehicle ownership in urban areas. In the present scenario the existing infrastructure has failed to match the demand that leads to traffic congestion, vehicular pollution and accidents. With traffic congestion augmentation on the road, delay of commuters has increased and reliability of road network has decreased. Four s...
متن کاملSwitching fuzzy modelling and control scheme using T-S fuzzy systems with nonlinear consequent parts
This paper extends the idea of switching T-S fuzzy systems with linear consequent parts to nonlinear ones. Each nonlinear subsystem is exactly represented by a T-S fuzzy system with Lure’ type consequent parts, which allows to model and control wider classes of switching systems and also reduce the computation burden of control synthesis. With the use of a switching fuzzy Lyapunov function, the...
متن کاملIntelligent Power Control of Green Building-Integrated of Fuel Cell and Plug-in Electric Vehicle in Smart Distribution Systems
The renewable energy sources and plug-in electric vehicles (PEVs) are becoming very popular because of the combination of high fuel costs and concerns about emission issues. This paper presents modelling and control of a Building Integrated Fuel Cell and Plug-in Electric Vehicles (BIFC-PEV) in smart distribution systems. In BIFC-PEV system, conventional building elements could be replaced by sp...
متن کاملModelling and Compensation of uncertain time-delays in networked control systems with plant uncertainty using an Improved RMPC Method
Control systems with digital communication between sensors, controllers and actuators are called as Networked Control Systems (NCSs). In general, NCSs encounter with some problems such as packet dropouts and network induced delays. When plant uncertainty is added to the aforementioned problems, the design of the robust controller that is able to guarantee the stability, becomes more complex. In...
متن کامل