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Control of Robots Using Discrete Event System Theory
Technical Paper
2018-01-1391
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
In this paper, we present a project being conducted at Yalong Educational Equipment Company on control of educational robots using discrete event system theory. An educational robot is a programmable robot to be used by students for training and learning. To model a robot, we divide the robot into nine physical modules. Each module is modeled as an automaton. Parallel composition is used to obtain the entire model. The robot can be programmed to perform sequences of basic tasks. We investigate six basic tasks and use supervisors to control and achieve the tasks. Desired languages are obtained for all tasks and supervisory control theory is used to synthesize supervisors. To reduce computational complexity, modular/coordinated supervisors are used
Authors
Citation
Lin, F., Wang, F., Chen, C., and Tang, C., "Control of Robots Using Discrete Event System Theory," SAE Technical Paper 2018-01-1391, 2018, https://doi.org/10.4271/2018-01-1391.Also In
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