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Title:Intelligent Visual Servo Control of an Air Hockey Playing Robot
Author(s):Bishop, Bradley Eugene
Doctoral Committee Chair(s):Spong, Mark W.
Department / Program:Electrical Engineering
Discipline:Electrical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Artificial Intelligence
Abstract: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.
Issue Date:1997
Description:192 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1997.
Other Identifier(s):(MiAaPQ)AAI9812535
Date Available in IDEALS:2015-09-25
Date Deposited:1997

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