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

Journal Article


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.

Publication Date


  • 1997

Citation


  • Naghdy, F., & Anjum, N. (1997). Discrete-event modelling, simulation and control of a distributed manipulation environment. Robotica, 15(2), 181-195. doi:10.1017/s0263574797000209

Scopus Eid


  • 2-s2.0-0031096831

Web Of Science Accession Number


Start Page


  • 181

End Page


  • 195

Volume


  • 15

Issue


  • 2

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.

Publication Date


  • 1997

Citation


  • Naghdy, F., & Anjum, N. (1997). Discrete-event modelling, simulation and control of a distributed manipulation environment. Robotica, 15(2), 181-195. doi:10.1017/s0263574797000209

Scopus Eid


  • 2-s2.0-0031096831

Web Of Science Accession Number


Start Page


  • 181

End Page


  • 195

Volume


  • 15

Issue


  • 2