An ultra-multi link manipulator
- 9 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 173-178 vol.1
- https://doi.org/10.1109/iros.1991.174445
Abstract
Describes a distributed autonomous control for an ultra-multi plane manipulator. Each controller independently determines the way how to move each link. The necessary information for the controller is the target position, the position of the end-effector and the position of the link. Each controller has the same control law and common information on the target position and the end-effector position. Thus, the authors call it 'distributed autonomous'. The proposed control architecture has two main advantages: (1) robustness, even if several number of links are out of order, the total system will still work normally; and (2) obstacle avoidance, if the obstacle satisfies some conditions, the robotic manipulator will avoid it automatically.<>Keywords
This publication has 6 references indexed in Scilit:
- A global cartesian space obstacle avoidance scheme for redundant manipulatorsOptimal Control Applications and Methods, 1991
- Y/sub E/-systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1990
- Resolution of kinematic redundancy using optimization techniquesIEEE Transactions on Robotics and Automation, 1989
- OPTIMAL CONTINUOUS-PATH CONTROL FOR MANIPULATORS WITH REDUNDANT DEGREES OF FREEDOMPublished by Elsevier ,1989
- Redundant robot control using task based performance measuresJournal of Robotic Systems, 1988
- Design of a controller for mechanical systems by the generalized energy functionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1987