Discrete event modeling and control approach for robotic tasks
机器人作业的离散事件建模与控制方法

In order to conquering the disadvantage of the open loop planning in the traditional robot controller, this paper designs the non-time-based continuous path planning and control method first. It enables the controller's planning value based on the system's states to avoid the damage due to the unexpected events and the replanning of the task in the time-based system. And then we set up the discrete event model for the whole task and provide the discrete event path planning and control synthesis methods. Those methods closed the event feedback loop and improved the system's capability to couple with the unexpected events and the automation degree. The task for two PUMA 560 manipulators to carry the recognized objects verified the effectiveness of this arithmetic finally.