NDLI: Development and implementation of real-time control modules for robotic waste management

Content Provider	IEEE Xplore Digital Library
Author	Glass, K. Colbaugh, R.
Copyright Year	1997
Description	Author affiliation: New Mexico State Univ., Las Cruces, NM, USA (Glass, K.)
Abstract	This paper considers the problem of controlling the motion of manipulators to perform waste management tasks. In particular, we develop two real-time control modules for implementation with the Sequential Modular Architecture for Robotics and Teleoperation (SMART) which has been developed at Sandia National Laboratories. SMART provides a "generic" framework within which individual subsystems can be combined, simulated, and implemented for real-time control of complex robotic systems. Control modules developed in the paper include an adaptive gravity compensation controller and a real-time sensor-based collision avoidance strategy. The adaptive gravity compensation controller is a position regulation strategy that requires no information regarding the manipulator dynamic model or payload and can be proven to be passive. The whole-arm collision avoidance algorithm is implemented within a damped-least-squares inverse kinematic formulation. The example modules are demonstrated through computer simulation on a 15 degree-of-freedom manipulator.
Starting Page	650
Ending Page	655
File Size	520518
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620110
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Intelligent robots Programmable control Adaptive control Gravity Collision avoidance Manipulator dynamics Motion control Waste management Laboratories
Content Type	Text
Resource Type	Article

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