A new discrete event system model for supervising and controlling robotic arm path tacking tasks based on adaptive masking

Soheil Arastehfar; Ying Liu; Wen Feng Lu

doi:10.1115/DETC2012-70588

A new discrete event system model for supervising and controlling robotic arm path tacking tasks based on adaptive masking

Soheil Arastehfar, Ying Liu, Wen Feng Lu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

This paper introduces a new discrete event system (DES) model for supervising and controlling trajectory planning tasks and robot motion using automata. This model is proposed based on a new approach, namely mask description. Masks are constructed adaptively and are modified based on the error between the original path and the planned path. The model acts in two phases, mask construction phase (MCP) and end-effecter positioning phase (E²P²). In MCP, it tries to plan a path, and in E²P² it tries to place the end-effecter along the sequence of points on the path. The model describes a path in the Cartesian space and moves the end-effecter in the joint variable space, and therefore, MCP plans the path as accurate as Cartesian space description, and E²P² position the robot as fast as joint space description. Results show that the proposed adaptive masking is remarkably efficient in computing.

Original language	English
Title of host publication	ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Subtitle of host publication	PARTS A AND B
Publisher	American Society of Mechanical Engineers (ASME)
Pages	1217-1226
Number of pages	10
Volume	4, Parts A and B
ISBN (Print)	9780791845035
DOIs	https://doi.org/10.1115/DETC2012-70588
Publication status	Published - 2012
Externally published	Yes
Event	ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States Duration: 12 Aug 2012 → 12 Aug 2012

Conference

Conference	ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Country	United States
City	Chicago, IL
Period	12/08/12 → 12/08/12

Access to Document

10.1115/DETC2012-70588

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Arastehfar, S., Liu, Y., & Lu, W. F. (2012). A new discrete event system model for supervising and controlling robotic arm path tacking tasks based on adaptive masking. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012: PARTS A AND B (Vol. 4, Parts A and B, pp. 1217-1226). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2012-70588

Arastehfar, Soheil ; Liu, Ying ; Lu, Wen Feng. / A new discrete event system model for supervising and controlling robotic arm path tacking tasks based on adaptive masking. ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012: PARTS A AND B. Vol. 4, Parts A and B American Society of Mechanical Engineers (ASME), 2012. pp. 1217-1226

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abstract = "This paper introduces a new discrete event system (DES) model for supervising and controlling trajectory planning tasks and robot motion using automata. This model is proposed based on a new approach, namely mask description. Masks are constructed adaptively and are modified based on the error between the original path and the planned path. The model acts in two phases, mask construction phase (MCP) and end-effecter positioning phase (E2P2). In MCP, it tries to plan a path, and in E2P2 it tries to place the end-effecter along the sequence of points on the path. The model describes a path in the Cartesian space and moves the end-effecter in the joint variable space, and therefore, MCP plans the path as accurate as Cartesian space description, and E2P2 position the robot as fast as joint space description. Results show that the proposed adaptive masking is remarkably efficient in computing.",

author = "Soheil Arastehfar and Ying Liu and Lu, {Wen Feng}",

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Arastehfar, S, Liu, Y & Lu, WF 2012, A new discrete event system model for supervising and controlling robotic arm path tacking tasks based on adaptive masking. in ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012: PARTS A AND B. vol. 4, Parts A and B, American Society of Mechanical Engineers (ASME), pp. 1217-1226, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012, Chicago, IL, United States, 12/08/12. https://doi.org/10.1115/DETC2012-70588

A new discrete event system model for supervising and controlling robotic arm path tacking tasks based on adaptive masking. / Arastehfar, Soheil; Liu, Ying; Lu, Wen Feng.

ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012: PARTS A AND B. Vol. 4, Parts A and B American Society of Mechanical Engineers (ASME), 2012. p. 1217-1226.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - This paper introduces a new discrete event system (DES) model for supervising and controlling trajectory planning tasks and robot motion using automata. This model is proposed based on a new approach, namely mask description. Masks are constructed adaptively and are modified based on the error between the original path and the planned path. The model acts in two phases, mask construction phase (MCP) and end-effecter positioning phase (E2P2). In MCP, it tries to plan a path, and in E2P2 it tries to place the end-effecter along the sequence of points on the path. The model describes a path in the Cartesian space and moves the end-effecter in the joint variable space, and therefore, MCP plans the path as accurate as Cartesian space description, and E2P2 position the robot as fast as joint space description. Results show that the proposed adaptive masking is remarkably efficient in computing.

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Arastehfar S, Liu Y, Lu WF. A new discrete event system model for supervising and controlling robotic arm path tacking tasks based on adaptive masking. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012: PARTS A AND B. Vol. 4, Parts A and B. American Society of Mechanical Engineers (ASME). 2012. p. 1217-1226 https://doi.org/10.1115/DETC2012-70588