Primitives for Robot Control

Kristofer S. J. Pister Inspired by the control system of the mammalian neuro-muscular system, we were moti­ vated to develop a methodology for description of hierarchical control in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to allow the description of a wide variety of systems. We present a consistent set of primitive operations which form the core of a robot system description and control language. This language is capable of describing a large class of robot systems under a variety of single level and distributed control schemes. We review a few pertinent results of classical mechanics, describe the functionality of our primitive operations, and present several different hierarchical strategies for the description and control of a two fingered hand holding a box.

[1]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .

[2]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[3]  S. Shankar Sastry,et al.  Kinematics and control of multifingered hands with rolling contact , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[4]  Roger W. Brockett,et al.  On the computer control of movement , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[5]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[6]  Vincent Hayward,et al.  Robot Control and Computer Languages , 1985 .

[7]  S. Shankar Sastry,et al.  On grasping and coordinated manipulation by a multifingered robot hand , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[8]  A. Bejczy.  Robot arm dynamics and control , 1974 .

[9]  Michael Athans,et al.  Survey of decentralized control methods for large scale systems , 1978 .

[10]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[11]  E. Bizzi,et al.  Controlling multijoint motor behavior. , 1987, Exercise and sport sciences reviews.

[12]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[13]  Dan Koditschek,et al.  Natural motion for robot arms , 1984, The 23rd IEEE Conference on Decision and Control.

[14]  Dayton Clark.  HIC: an operating system for hierarchies of servo loops , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[15]  Oussama Khatib,et al.  Augmented Object and Reduced Effective Inertia in Robot Systems , 1988, 1988 American Control Conference.

[16]  S. Shankar Sastry,et al.  Control experiments in planar manipulation and grasping , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[17]  W. E. Schmitendorf,et al.  Analytical dynamics of discrete systems , 1977 .

[18]  J. Y. S. Luh,et al.  Resolved-acceleration control of mechanical manipulators , 1980 .