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Manipulation Primitives — A Universal Interface between Sensor-Based Motion Control and Robot Programming

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Robotic Systems for Handling and Assembly

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 67))

Abstract

This paper introduces a generic framework for sensor-based robot motion control. The key contribution is the introduction of an adaptive selection matrix for sensor-based hybrid switched-system control. The overall control system consists of multiple sensors and open- and closed-loop controllers, in-between which the adaptive selection matrix can switch discretely in order to supply command variables for low-level controllers of robotic manipulators. How control signals are chosen, is specified by Manipulation Primitives, which constitute the interface to higher-level applications. This programming paradigm is formally specified in order to establish the possibility of executing sensor-guided and sensor-guarded motion commands simultaneously and in a very open way, such that any kind and any number of sensors can be addressed. A further key feature of this generic approach is, that the control structure can be directly mapped to a corresponding software architecture. The resulting control system is freely scalable depending on the performance requirements of the desired system.

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Author information

Authors and Affiliations

  1. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, 94305-9010, USA

    Torsten Kröger

  2. KUKA Roboter GmbH, Zugspitzstraße 140, 86165, Augsburg, Germany

    Bernd Finkemeyer

  3. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

Authors
  1. Torsten Kröger
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  2. Bernd Finkemeyer
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  3. Friedrich M. Wahl
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Editor information

Editors and Affiliations

  1. Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Langer Kamp 19b, 38106, Braunschweig, Germany

    Daniel Schütz

  2. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

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Kröger, T., Finkemeyer, B., Wahl, F.M. (2010). Manipulation Primitives — A Universal Interface between Sensor-Based Motion Control and Robot Programming. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_17

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  • DOI: https://doi.org/10.1007/978-3-642-16785-0_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16784-3

  • Online ISBN: 978-3-642-16785-0

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