{"title":"在工作区域存在非静止障碍物的情况下，基于规则语法的机器人机械手逻辑控制","authors":"Olga Tkacheva, M. Vinogradova, A. Utkin","doi":"10.1109/MLSD49919.2020.9247703","DOIUrl":null,"url":null,"abstract":"The work is devoted to the synthesis of logical control by a robotic arm when unsteady obstacles appear in the working area. For a two-link manipulator, a grip motion control model based on a hybrid automata with a finite set of states is constructed. Using the methods of numerical simulation, the operation efficiency of the obtained logical control algorithm is illustrated.","PeriodicalId":103344,"journal":{"name":"2020 13th International Conference \"Management of large-scale system development\" (MLSD)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Logical control of a robot manipulator based on regular grammars in the presence of non-stationary obstacles in the working area\",\"authors\":\"Olga Tkacheva, M. Vinogradova, A. Utkin\",\"doi\":\"10.1109/MLSD49919.2020.9247703\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The work is devoted to the synthesis of logical control by a robotic arm when unsteady obstacles appear in the working area. For a two-link manipulator, a grip motion control model based on a hybrid automata with a finite set of states is constructed. Using the methods of numerical simulation, the operation efficiency of the obtained logical control algorithm is illustrated.\",\"PeriodicalId\":103344,\"journal\":{\"name\":\"2020 13th International Conference \\\"Management of large-scale system development\\\" (MLSD)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-09-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 13th International Conference \\\"Management of large-scale system development\\\" (MLSD)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MLSD49919.2020.9247703\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 13th International Conference \"Management of large-scale system development\" (MLSD)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MLSD49919.2020.9247703","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Logical control of a robot manipulator based on regular grammars in the presence of non-stationary obstacles in the working area
The work is devoted to the synthesis of logical control by a robotic arm when unsteady obstacles appear in the working area. For a two-link manipulator, a grip motion control model based on a hybrid automata with a finite set of states is constructed. Using the methods of numerical simulation, the operation efficiency of the obtained logical control algorithm is illustrated.
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