Intelligent Visual Servo Control of an Air Hockey Playing Robot
Bishop, Bradley Eugene
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Permalink
https://hdl.handle.net/2142/81200
Description
Title
Intelligent Visual Servo Control of an Air Hockey Playing Robot
Author(s)
Bishop, Bradley Eugene
Issue Date
1997
Doctoral Committee Chair(s)
Spong, Mark W.
Department of Study
Electrical Engineering
Discipline
Electrical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Artificial Intelligence
Language
eng
Abstract
The use of a planar robot manipulator for the air hockey problem allows for a task hierarchy under which end-effector trajectory tracking is the primary task and redundancy resolution is utilized to achieve secondary tasks. The set of secondary objective controllers consists of criteria optimizing controllers and constraint satisfaction controllers. The system framework is seen to include both stability-based switching laws and heuristic switching rules, forming a solid foundation for intelligent control. Experimental results are shown for a simplified version of the system framework.
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