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Proceedings Paper

Controlling autonomous loading manipulator with planning-executing-monitoring cycles
Author(s): Sakari Pieska; Tapio A. Heikkila; Jukka P. Riekki; Tapio Taipale; Klaus Kansala; Juha Roening
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Paper Abstract

Robots operating in unstructured environments require continuous utilization of sensors and intelligence for adapting to changing situations. In this paper a control method to achieve this goal is described and preliminary experiments are discussed. The control scheme is based on a hierarchically organized set of planning-executing-monitoring (PEM) cycles. Every PEM cycle is a goal-oriented module, which consists of three generic activities -- planning, executing, and monitoring -- and a separate meta control mechanism, which takes care of the control of generic activities inside a PEM cycle. We present our design experiments beginning from the development of a PEM-based logical model for an autonomous machine, and continue to the development of an implementation model for a loading manipulator control system. The laboratory implementations in two industrial robot environments are also described as well as plans for PEM-control implementation for a heavy-duty manipulator designed for loading paper rolls in harbor sites.

Paper Details

Date Published: 1 February 1992
PDF: 10 pages
Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); doi: 10.1117/12.57110
Show Author Affiliations
Sakari Pieska, Technical Research Ctr. of Finland (Finland)
Tapio A. Heikkila, Technical Research Ctr. of Finland (Finland)
Jukka P. Riekki, Univ. of Oulu (Finland)
Tapio Taipale, Technical Research Ctr. of Finland (Finland)
Klaus Kansala, Technical Research Ctr. of Finland (Finland)
Juha Roening, Univ. of Oulu (Finland)

Published in SPIE Proceedings Vol. 1607:
Intelligent Robots and Computer Vision X: Algorithms and Techniques
David P. Casasent, Editor(s)

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