Event Driven Parts Moving in 2D Endogenuous Environments

This paper is concerned with the parts’ moving problem based on an event-driven planning and control. We are interested in developing feedback based approaches to the automatic generation of actuator commands that cause the robot to move a set of parts from an arbitrary initial disassembled configuration to a specif ed final configuration. In the Phase I of this project, a composite algorithm that reactively switches between different feedback controllers has been shown to induce a noncooperative game being played among the parts being manipulated. This paper describes experimental results with EDAR – Event-Driven Assembler Robot – developed for moving parts based on feedback techniques.

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