NDLI: Task driven feedback control of robot arms: A step toward intelligent control

Content Provider	IEEE Xplore Digital Library
Author	Bejczy, A.K. Tarn, T.J. Li, Z.F.
Copyright Year	1986
Description	Author affiliation: Washington University, St. Louis, MO (Tarn, T.J.; Li, Z.F.) \|\| California Institute of Technology, Pasadena, CA (Bejczy, A.K.)
Abstract	The process of connecting task descriptions originating from machine intelligence planning programs to the mechanization of feedback control of robot arms is analyzed. It is shown in this paper that control theories and practices can be extended to a higher level where feedback control of robot arms directly can respond to work space task commands provided that the work space task as a command is given in the form of a closed function of time. A general mathematical procedure using tools from differential geometry is introduced for synthesizing task space motion planning so that the planned motion can be used as a direct input to the robot arm feedback control system to achieve desired robot hand motion. By definition, "intelligent control" is being manifested through robot performance in the task space relative to task space commands. Thus, the capability of implementing feedback control of robot arms directly driven by appropriate task descriptions in the workspace as commands is a step toward intelligent control.
Starting Page	1256
Ending Page	1261
File Size	451316
Page Count	6
File Format	PDF
DOI	10.1109/CDC.1986.267581
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1986-12-10
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback control Intelligent robots Manipulators Intelligent control Orbital robotics Joining processes Machine intelligence Process planning Control theory Computational geometry
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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