A Computationally Distributed Self-Organizing Algorithm for the Control of Manipulators in the Operational Space

The present work deals with manipulator arms characterized by the presence of an internal, totally distributed, embedded control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit devoted to properly drive its motion, thus allowing to consider...

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Bibliographic Details
Published inProceedings of the 2005 IEEE International Conference on Robotics and Automation pp. 4050 - 4055
Main Authors Casalino, G., Turetta, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Arm
Centralized control
Communication system control
Computational geometry
Control systems
Distributed computing
Distributed control
Kinematics
Microcontrollers
Motion control
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Summary:The present work deals with manipulator arms characterized by the presence of an internal, totally distributed, embedded control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit devoted to properly drive its motion, thus allowing to consider each pair constituted by a single joint and the associated link as a defective "1-dof-onlyâ€, separately controlled, atomic manipulator. In this perspective, the paper proposes an effective, computationally distributed, control technique that, based on a repeated data exchange among the processing units, establishes a global self-organizing behaviour among the joints which allows to control the motion of the end-effector of the overall arm in the operational space, by solely exploiting the control capabilities of every local processing unit, while not requiring any centralized global knowledge about the overall arm geometry and kinematics.
ISBN:078038914X
9780780389144
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2005.1570741