このエントリーをはてなブックマークに追加
ID 14180
file
creator
Nakayama, Seiya
Ito, Koji
NDC
Mechanical engineering
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.
journal title
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
volume
Volume 27
issue
Issue 3
start page
498
end page
509
date of issued
1997
publisher
IEEE
issn
1083-4419
language
eng
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
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.
relation is version of URL
http://dx.doi.org/10.1109/3477.584956
department
Graduate School of Engineering