Control of Robots Using Discrete Event System Theory

In this paper, we present a project being conducted at Yalong Educational Equipment Company on control of educational robots using discrete event system theory. An educational robot is a programmable robot to be used by students for training and learning. To model a robot, we divide the robot into nine physical modules. Each module is modeled as an automaton. Parallel composition is used to obtain the entire model. The robot can be programmed to perform sequences of basic tasks. We investigate six basic tasks and use supervisors to control and achieve the tasks. Desired languages are obtained for all tasks and supervisory control theory is used to synthesize supervisors. To reduce computational complexity, modular/coordinated supervisors are used

• Record URL:
  • https://doi.org/10.4271/2018-01-1391
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/01487191
• Supplemental Notes:
  • Abstract reprinted with permission of SAE International.
• Authors:
  • Lin, Feng
  • Wang, Fei
  • Chen, Changan
  • Tang, Cangeng
• Conference:
  • WCX World Congress Experience
  • Location: Detroit Michigan, United States
  • Date: 2018-4-10 to 2018-4-12
• Publication Date: 2018-4-3

Language

• English

Media Info

• Media Type: Web
• Features: Figures; Illustrations; References;
• Serial:
  • SAE Technical Paper
  • Publisher: Society of Automotive Engineers (SAE)
  • ISSN: 0148-7191
  • EISSN: 2688-3627
  • Serial URL: http://papers.sae.org/

Subject/Index Terms

• TRT Terms: Control systems; Power modules; Robotics; Robots; Task analysis
• Subject Areas: Data and Information Technology; Transportation (General); Vehicles and Equipment;

Filing Info

• Accession Number: 01731863
• Record Type: Publication
• Source Agency: SAE International
• Report/Paper Numbers: 2018-01-1391
• Files: TRIS, SAE
• Created Date: Feb 25 2020 10:02AM