Discrete event based framework for controlling and programming robot manipulators and virtual humans

Jürgen Roßmann, Michael Schluse, Christian Schlette

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

Abstrakt

The task of controlling and programming Industrial Robot Systems or versatile multi-agent systems in which several types of robots must be coordinated and synchronized, leads to the development of a unified control core for single agents. These control cores are closely coupled to a 3D model of their working environment as well as a discrete event model of their control behavior, allowing for model-based parameterization of the control cores and the use of new methods of Supervisory Control to solve the overall control problem. To integrate simulation as well as control of agents into a single but modular simulation and control system is based on a standard 3D robot simulation system which simulates the virtual agents. The standard 3D robot simulation provides a sustainable basis for agent based robot simulation. The applications range from the control of single and multi-robot workcells up to the ambitious approach to simulate "Virtual Human"- as multi-agent system.

OriginalsprogEngelsk
TidsskriftVDI Berichte
Udgave nummer1956
Sider (fra-til)61
ISSN0083-5560
StatusUdgivet - 2006
Udgivet eksterntJa

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