Parallel and Distributed Trajectory Generation of Redundant Manipulators through Cooperation and Competition among Subsystems
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.
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
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Graduate School of Engineering