A DECENTRALIZED AUTONOMOUS CONTROL ALGORITHM FOR HIGHLY REDUNDANT ROBOT MANIPULATORS

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.