Abstract
A behaviour-based architecture for the design of robot manipulator control in force mediated motions has been implemented. Its performance has been measured over a number of tasks to investigate the applicability of the approach. It has been found to offer a possible alternative to traditional control theory approaches in situations that do not lend themselves to an analytical approach. The proposed architecture offers a low cost means of implementing such control at an appropriate layer of abstraction for a non-specialist end user albeit at reduced accuracy and speed due to the limitations of the underlying external force control scheme.
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