DMCA
An Experimental Testbed for Intelligent Control (1995)
| Venue: | in American Control Conference |
| Citations: | 4 - 1 self |
BibTeX
@INPROCEEDINGS{Bishop95anexperimental,
author = {Brad Bishop and Paul Shirkey and Mark W. Spong},
title = {An Experimental Testbed for Intelligent Control},
booktitle = {in American Control Conference},
year = {1995}
}
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Abstract
In this paper we discuss the development of an experimental testbed for research in intelligent robotic systems. Our system, an air hockey playing robot, consists of a direct drive robot arm, DSP controller, DataCube vision system, CCD camera and air table, is an excellent vehicle to facilitate our research in the integration of machine learning with nonlinear and adaptive control theory and real--time visual servoing. As a first application we present a new result on adaptive visual servoing with on--line calibration for this system. 1 Background Current robotic systems tend to be hierarchical with high level task planners at the top, which compute trajectories without utilizing information about the dynamics of the process, and low level servo systems at the bottom, which are designed simply to track the trajectories presented to them. In our research we are attempting to go beyond this strict hierarchical control architecture by integrating modeling, dynamics, and control at all lev...
Keyphrases
experimental testbed intelligent control ccd camera direct drive robot arm low level servo system datacube vision system air hockey playing robot dsp controller strict hierarchical control architecture air table first application background current robotic system new result adaptive control theory intelligent robotic system high level task planner adaptive visual servoing excellent vehicle line calibration real time visual servoing
