Distributed position control method for a hyper-redundant modular manipulator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Distributed position control method for a hyper-redundant modular manipulator
	Liu MY(刘明尧); Tan DL(谈大龙); Jiang, WS
	2002
会议名称	4th World Congress on Intelligent Control and Automation
会议日期	June 10-14, 2002
会议地点	SHANGHAI, China
关键词	hyper-redundant manipulator distributed control negotiation and cooperation multi-agent system
页码	1251-1254
中文摘要	According to multi-agent system theory and characteristics of the structural distribution of hyper-redundant modular manipulator, we establish the distributed control system for hyper-redundant modular manipulator. Each joint module is considered as an intelligent agent. Because the relations among agents are tightly coupled and each agent has no local subtask, agents need to coordinate their actions constantly in order to complete their tasks. We present a new negotiation and cooperation control algorithm. The proposed method is applied to a 2-dimension hyper-redundant modular manipulator with rotational joints. The effectiveness of the method are ascertained by computer simulations.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Tongji Univ, Shanghai Jiaotong Univ, E China Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Shanghai Assoc Automat
会议录	PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-7268-9
WOS记录号	WOS:000179017500267
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8674]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu MY,Tan DL,Jiang, WS. Distributed position control method for a hyper-redundant modular manipulator[C]. 见:4th World Congress on Intelligent Control and Automation. SHANGHAI, China. June 10-14, 2002.