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• W1490085030 abstract "Nowadays industrial robots have to perform complex tasks at high speeds and have to be capable of carrying out extremely precise and repeatable operations in an industrial environment; however, robot manipulators can perform just a small set of interactions with structures in their surrounding environment and with human operators which can be eventually present in the working area. The great gap between the capability of performing tasks with a high precision and speed, and the ability to perceive the environment and to act with it, claims the need of a smart and versatile control system which must guarantee a high degree of interaction between the robot manipulator and its world, whilst assuring the same performances required by the industry processes. In this context the ability to perceive its environment forms a crucial characteristic of such control system, which has to cope with problems of incompleteness of data and uncertainty. In order to achieve a high level of interaction, the control has to provide the system with the capability of robustly perceive the robot surroundings and to promptly react to any change in the state of its environment. A fundamental aspect of the robot-environment interaction is related to the capability of the control paradigm to model the structured and unstructured environment, such as its static and dynamic features. In this chapter, the main effort is that of describing new control architectures capable of taking into account both the static and dynamic characteristics of the robot world. In order to correctly introduce the problem, a particular focus has to be done on the static and dynamic aspects of the environment, considering at a first glance the two sides as different and separated and then, the last effort has to be done to merge the control techniques together in order to give a general solution to the modelling of environment and control of the robot. As an introduction for the first aspect, and as stated before, one of the most innovative and important problem in the nowadays industrial and service robotics is that one of completely controlling, not just the robot itself with its kinematics and dynamics, but even its interaction with the space where it works (Van Wichert & Lawitzky, 2001; Kraiss, 2006). It happens very often that the manipulators have to work in spaces shared with human operators or with other robots (eventually in some interchange zones) or they have to move and operate in places with static and/or dynamic facilities (Barraquand et al., 1989). Under this point of view, the use of a system that can 29" @default.
• W1490085030 created "2016-06-24" @default.
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• W1490085030 date "2010-04-01" @default.
• W1490085030 modified "2023-10-16" @default.
• W1490085030 title "Hybrid Control Techniques for Static and Dynamic Environments: a Step towards Robot-Environment Interaction" @default.
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• W1490085030 doi "https://doi.org/10.5772/9314" @default.
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