Parallel and Distributed Trajectory Generation of Redundant Manipulators through Cooperation and Competition among Subsystems

IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics Volume 27 Issue 3 Page 498-509 published_at 1997
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Title ( eng )
Parallel and Distributed Trajectory Generation of Redundant Manipulators through Cooperation and Competition among Subsystems
Creator
Nakayama Seiya
Ito Koji
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
Volume 27
Issue 3
Start Page 498
End Page 509
Abstract
The autonomous distributed control (ADC) is oneof the most attractive approaches for more versatile and autonomousrobot systems. This paper proposes a parallel anddistributed trajectory generation method for redundant manipulatorsthrough cooperative and competitive interactions amongsubsystems composing the ADC that is based on a concept ofvirtual arms. The virtual arm has the same kinematic structureas the manipulator except that its end-point is located on a jointor link of the manipulator. Then the redundant manipulatorcan be represented by a set of the virtual arms. In this paper,trajectory generation and point-to-point control of the redundantmanipulator are discussed, and it is shown that the kinematicredundancy of the manipulator can be utilized positively in thegenerated trajectories by using the virtual arms.
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 1997
Rights
Copyright (c) 1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1083-4419
[DOI] http://dx.doi.org/10.1109/3477.584956 isVersionOf