LI Chun-mei, DU Zheng-chun, JI Xin, YAN Jing-ping. A DECENTRALIZED AUTONOMOUS CONTROL ALGORITHM FOR HIGHLY REDUNDANT ROBOT MANIPULATORS[J]. ROBOT, 2000, 22(4): 305-309.
Citation: LI Chun-mei, DU Zheng-chun, JI Xin, YAN Jing-ping. A DECENTRALIZED AUTONOMOUS CONTROL ALGORITHM FOR HIGHLY REDUNDANT ROBOT MANIPULATORS[J]. ROBOT, 2000, 22(4): 305-309.

A DECENTRALIZED AUTONOMOUS CONTROL ALGORITHM FOR HIGHLY REDUNDANT ROBOT MANIPULATORS

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  • Received Date: October 24, 1999
  • Published Date: July 14, 2000
  • This paper introduces a redundant robot manipulator’s control method. It uses a distributed autonomous control scheme to guide the movement of robot manipulator s so that the work done by manipulators is minimized. And it can avoid using the method of computing pseudoinverse which has too many complicated calculations. Then the calculation and control of robot are simplified. At the same time, syst em robustness/fault tolerance are achieved.
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    Siciliano B, Sciavicco L. A Solution Algorithm to the Inverse Kinematic Problem for Redundant Manipulators. IEEEJournal of Robotics and Automation, 1988,RA-4(4)
    [3]
    Liegeois A. Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms. IEEETransactions on Systems, Man,and Cybernetics, 1977,SMC-7(12)
    [4]
    Walker I D. Subtask Performance by Redundant Resolution for Redundant Robot and Manipulators. IEEE Journal ofRobotics and Automation,1988,4(3)
    [5]
    Chan T F, Dubey R V. A Weighted Least-Norm Solution Based Scheme for Avoiding Joint Limit for Redundant JointManipulators. IEEE Transactions on Robotics Automation, 1995,11 (2)
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