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Discrete-event modelling, simulation and control of a distributed manipulation environment

Published online by Cambridge University Press:  01 March 1997

Fazel Naghdy  and
Naeem Anjum
Fazel Naghdy
Affiliation:
Department of Electrical and Computer Engineering, University of Wollongong, Northfields Ave., Wollongong, NSW 2522, Australia. E-mail: f.naghdy@uow.edu.au
Naeem Anjum
Affiliation:
Department of Electrical and Computer Engineering, University of Wollongong, Northfields Ave., Wollongong, NSW 2522, Australia. E-mail: f.naghdy@uow.edu.au
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Abstract

Conventional robotics has proved to be inflexible and non-generic. The concept of Distributed Manipulation Environment (DME) is introduced to overcome some of these shortcomings. This concept proposes a distributed approach to robotics and flexible automation. The work is concerned with modelling, simulation and event based control of DME. The modelling, conducted both at the atomic and the coupled level, is quite generic and provides a framework for static and dynamic behaviour analysis of DME systems. The simulation models serve as a mean of performance evaluation of the system on a computer before the actual implementation in real time. The event-based controller provides a simple and robust control scheme. The controller, itself, can be tested, validated and finely tuned through simulation before implementation. The feasibility of the modelling technique is demonstrated through a case study.

Keywords

Distributed Manipulation EnvironmentDiscrete-Event-ModellingComputer SimulationEvent-Based control
Type
Research Article
Information
Robotica , Volume 15 , Issue 2 , March 1997 , pp. 181 - 198
Copyright
© 1997 Cambridge University Press

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