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Erschienen in:
1984 | OriginalPaper | Buchkapitel
Nonlinear Control with Hierarchy for Coordinated Operation of Robots
verfasst von : E. Freund
Erschienen in: Robotics and Artificial Intelligence
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
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The coordinated operation of several robots is a challenging control problem of high practical interest where relatively little work has been done so far. In the paper, a hierarchical overall system is developed for the coordinated operation including the dynamics of the robots involved. The resulting equations are given in general form as well as in application of the nonlinear control and decoupling method. The new approach is applied to two robots (AIT Robot 1 and Volkswagen Robot G60) working on a conveyor belt with a common collision space.