Decentralized control algorithm for modular manipulators using coupled nonlinear dynamics

Shinichi Kimura

doi:10.1117/12.444156

4 October 2001 Decentralized control algorithm for modular manipulators using coupled nonlinear dynamics

Shinichi Kimura

Proceedings Volume 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV; (2001) https://doi.org/10.1117/12.444156
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

A basic decentralized control algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avoidance. The algorithm uses a coupled nonlinear spring as a model for a manipulator and calculates the shape of the manipulator to balance with the coupled spring. Because encoding using coupled nonlinear dynamics can explain various shapes very simply, we can reduce the complexity of obstacle avoidance and adaptation to partial faults.

Citation Download Citation

Shinichi Kimura "Decentralized control algorithm for modular manipulators using coupled nonlinear dynamics", Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); https://doi.org/10.1117/12.444156

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