Abstract
The concept, theory, and the issues that are pertinent to the design and implementation of an adaptive, real-time, intelligent seam tracker (ARTIST) are discussed. ARTIST is designed to operate in the unstructured environment of 3-D seams without preprogramming. A salient feature of the ARTIST design is that the tracking errors in any cycle do not affect the system performance during subsequent cycles. The conceptual and analytical development of a two-tier hierarchical control scheme for ARTIST is presented. The high-level controller models and interacts with the global seam environment while the low-level controller positions the torch over the seam with the correct orientation.
| Original language | English (US) |
|---|---|
| Title of host publication | Proc 1990 IEEE Int Conf Rob Autom |
| Publisher | Publ by IEEE |
| Pages | 1892-1897 |
| Number of pages | 6 |
| ISBN (Print) | 0818620617 |
| State | Published - 1990 |
| Event | Proceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA Duration: May 13 1990 → May 18 1990 |
Other
| Other | Proceedings of the 1990 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Cincinnati, OH, USA |
| Period | 5/13/90 → 5/18/90 |
All Science Journal Classification (ASJC) codes
- General Engineering