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Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers

Summary: Matrix-based Supervisory Controller of
Transition-Function Specified Robot Controllers
Niak Wu Koh*
, Cezary ZieliŽnski
, Marcelo H. Ang, Jr.*
and Ser Yong Lim
National University of Singapore, Department of Mechanical Engineering
email: (nwkoh, mpeangh)@nus.edu.sg

Warsaw University of Technology, Faculty of Electronics and Information Technology
email: C.Zielinski@ia.pw.edu.pl

Singapore Institute of Manufacturing Technology
email: sylim@SIMTech.a-star.edu.sg
Abstract. Robot control systems generally require a layer that manages, in a mod-
ular manner, the hardware or low level control and a supervisory layer which allows
task specification for the execution of a task. This paper proposes the transition-
function specified controllers as a lower layer, with an improved matrix-based su-
pervisory controller for the high level operations.


Source: Ang Jr.,, Marcelo H. - Department of Mechanical Engineering, National University of Singapore


Collections: Engineering