A modular manipulator can be reconfigured according to its required function, conditions, and/or partial faults. In this paper, we propose a new control algorithm for a modular redundant manipulator. In this algorithm, local control processors develop independent inverse-kinematic solutions, and determine an overall solution by consensus. In this new algorithm, since decisions are not made by a single CPU, but rather through negotiation among the local processors, the control algorithm has no explicit single failure point, which was suggested to be a weak point of our previous control algorithm. Since this new algorithm is also robust against asynchronous operation of the local processors, control performance is enhanced.
|Number of pages||6|
|Journal||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|Publication status||Published - 1 Dec 1998|
|Event||Proceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, USA|
Duration: 11 Oct 1998 → 14 Oct 1998