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

Tsuji Toshio

Nakayama Seiya

Ito Koji

IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics

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.

機械工学 [ 530 ]

英語

IEEE

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[ISSN] 1083-4419

[DOI] http://dx.doi.org/10.1109/3477.584956 ～の異版である