Abstract
In this paper, we present a robotic application performed by sequencing visual servoing tasks. The theoritical framework used is the sensor-based control for the continuous parts of the application and discrete events system theory for its logical aspects. The design and analysis of the whole system are coherently handled using Orccad concepts. We focus our attention on the programming aspects of these theories and concepts, from application level specification up to real-time implementation and results analysis. An effective experimentation on our mobile hand-eye robot validating and illustrating this approach is fully detailed.
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© 1997 Springer-Verlag London Limited
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Pissard-Gibollet, R., Kapellos, K., Rives, P., Borrelly, J.J. (1997). Real-time programming of mobile robot actions using advanced control techniques. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035246
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DOI: https://doi.org/10.1007/BFb0035246
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