Distributed position control method for a hyper-redundant modular manipulator

被引：0
|
作者：
Liu, MY [1 ]
Tan, DL [1 ]
Jiang, WS [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, Shenyang 110016, Peoples R China
来源：
PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4 | 2002年
关键词：
hyper-redundant manipulator; distributed control; negotiation and cooperation; multi-agent system;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
According to multi-agent system theory and characteristics of the structural distribution of hyper-redundant modular manipulator, we establish the distributed control system for hyper-redundant modular manipulator. Each joint module is considered as an intelligent agent. Because the relations among agents are tightly coupled and each agent has no local subtask, agents need to coordinate their actions constantly in order to complete their tasks. We present a new negotiation and cooperation control algorithm. The proposed method is applied to a 2-dimension hyper-redundant modular manipulator with rotational joints. The effectiveness of the method are ascertained by computer simulations.
引用
收藏
页码：1251 / 1254
页数：4
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