A Hierarchical Intelligent Controller for a Three Link Robot Arm

Abstract

A hierarchical intelligent control strategy based on the physical components of a system was applied to the control of a robot arm. The controller was designed to make local decisions and carry out local actions to manipulate various different objects on a work table. The information about the environment was provided by a simulated vision system. To design the hierarchical controller the robot arm was first decomposed into its components. Next, functionalities were assigned to the nodes in terms of goals, tasks, procedures, constraints, measurements, and resources. The goals were then propagated down the hierarchy, with constraints applied to enforce the necessary sequential operation in real-time. To provide external information to nodes and to help them evaluate their constraints, temporary connections which are called smart links were used.

Meeting Name

IEEE International Symposium on Intelligent Control (1995: Aug. 27-29, Monterey, CA)

Department(s)

Electrical and Computer Engineering

Keywords and Phrases

Computer Simulation; Computer Vision; Constraint Theory; Control System Synthesis; Decision Making; Degrees of Freedom (Mechanics); Hierarchical Systems; Manipulators; Real Time Systems; Robotic Arms; Hierarchical Intelligent Controller; Nodes; Simulated Vision System; Smart Links; Three Link Robot Arm; Intelligent Control

International Standard Book Number (ISBN)

0-7803-2722-5

International Standard Serial Number (ISSN)

2158-9860

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1995 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Aug 1995

Link to Full Text

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