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 proceedingConference contributionAcademicpeer-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 languageEnglish
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Subtitle of host publicationPARTS A AND B
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages1217-1226
Number of pages10
Volume4, Parts A and B
ISBN (Print)9780791845035
DOIs
Publication statusPublished - 2012
Externally publishedYes
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: 12 Aug 201212 Aug 2012

Conference

ConferenceASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period12/08/1212/08/12

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