Intelligent Visual Servo Control of an Air Hockey Playing Robot

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

1997

Author dc:creator

• Bishop, Bradley Eugene

Contributors dc:contributor

• Spong, Mark W.

• Artificial Intelligence

Language dc:language

eng

Identifier

(MiAaPQ)AAI9812535

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/81200