NDLI: Efficient control of a mobile-task robotic system

Content Provider	IEEE Xplore Digital Library
Author	Lee, J.M. Lee, M.C. Son, K. Ahn, D.S. Han, S.H. Lee, M.H.
Copyright Year	1995
Description	Author affiliation: Dept. of Electr. Eng., Pusan Nat. Univ., South Korea (Lee, J.M.)
Abstract	The control of a mobile-task robot is implemented with the suitable-decoupling of the dynamic interactions between two local robots, i.e., a task robot and a mobile robot. The mobile-task robot is a redundant robot formed by the serial connection of the two robots, and it is suitable for the multiple task execution without any constraints on the workspace. The decoupling process can be initiated when the motions and static forces required for each robot are described explicitly. In this paper, the authors demonstrate the performance of a redundant robot system controlled by two independent controllers which are cooperating to achieve a common task. By using the two independent controllers, one can achieve a task assigned at the end of the task robot with high speed and high precision. One typical example of task distribution is that fast and rough motions are mainly assigned to the mobile robot, while slow and accurate motions to the task robot. Forming a redundant manipulator through the serial connection of two robots, decoupling the dynamics of the two robots through the task distribution and controlling each of the local robot by an independent controller is a new approach for the design/control of high performance robotic systems.
Starting Page	2805
Ending Page	2809
File Size	572744
Page Count	5
File Format	PDF
ISBN	0780324455
DOI	10.1109/ACC.1995.532362
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-06-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Mobile robots Robot kinematics Orbital robotics Manipulator dynamics Robot control Aquaculture Robot sensing systems Parallel robots Costs
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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