Real-Time Sensor-Based Approach to the Improvement of Transitions of RobotManipulator Controls

摘要

A sensor based control approach, to provide a smooth and fast transition for therobot when it is required to stop or change its control laws upon contacting a target, is proposed. The system is aimed at being capable of providing such a transition even though uncertainties about the target may exist. Proximity sensors are used as external sensors to provide the robot with its environmental information. A closed loop with hierarchical control levels is formed. Dynamic sensing and intelligent robot positioning systems are reviewed. The adopted sensing strategy is given. Different control schemes at high and low levels are presented for the hierarchical robot control proposed. Simulation results are given.