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1 February 1992 Controlling autonomous loading manipulator with planning-executing-monitoring cycles
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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.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Sakari Pieska, Tapio A. Heikkila, Jukka P. Riekki, Tapio Taipale, Klaus Kansala, and Juha Roening "Controlling autonomous loading manipulator with planning-executing-monitoring cycles", Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992);


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