Name
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 |
Year | DOI | Venue |
|---|---|---|
1991 | 10.1109/IROS.1991.174445 | Osaka |
Keywords | Field | DocType |
distributed control,position control,robots,distributed autonomous control,obstacle avoidance,position control,robots,robustness,ultra multiple link manipulators | Obstacle avoidance,Obstacle,Robot control,Control theory,Computer science,Control theory,Manipulator,Robustness (computer science),Control engineering,Robot,Out-of-order execution | Conference |
Citations | PageRank | References |
8 | 2.73 | 1 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hisato Kobayashi | 1 | 90 | 20.30 |
| Etsujiro Shimemura | 2 | 71 | 20.22 |
| Suzuki, K. | 3 | 121 | 26.09 |