A generic controller architecture for intelligent robotic systems

被引：10

作者：

Short, Michael ^{[1
]}

Burn, Kevin ^{[2
]}

机构：

[1] Univ Teesside, Elect & Control Grp, Middlesbrough TS1 3BA, Cleveland, England

[2] Univ Sunderland, Dept Comp Engn & Technol, Sunderland SR1 3SD, England

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2011年 / 27卷 / 02期

基金：

英国工程与自然科学研究理事会;

关键词：

Robotics; Controller architectures; Intelligent control; Force control; ADAPTIVE-CONTROL; FORCE; FUZZY; TUTORIAL;

D O I：

10.1016/j.rcim.2010.07.013

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper describes a research program to develop a novel reference architecture and design philosophy for an advanced robot controller for a new generation of robots. It is suggested that a new approach to robot controller design is required in order to bring the present generation of industrial robots in line with current and foreseeable technological developments. The paper also describes a prototype controller that has been developed using this design philosophy, and its deployment on an experimental robot. Practical results are presented from a series of investigations undertaken to illustrate the performance of the controller. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：292 / 305

页数：14

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