Title :
A fundamental study on reconfigurable robot system construction with central- and local intelligence
Author :
Miwa, Nobuyasu ; Yubai, Kazuhiro ; Hirai, Junji
Author_Institution :
Mie Univ., Tsu
Abstract :
This paper deals with a study on reconfigurable robots. Firstly, the concept of the reconfigurable robot is described. Secondly, construction of the distributed robot control system consisting of local- and central intelligence is explained. Then the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited control scheme for this system, and finally confirm by simulation the effectiveness of the proposed Algorithm
Keywords :
distributed control; flexible manipulators; redundant manipulators; central intelligence; distributed robot control; local intelligence; reconfigurable robot system construction; redundant robot manipulator; virtual velocity transmission algorithm; wireless information transmission; wireless power transmission; Centralized control; Control systems; Intelligent actuators; Intelligent control; Intelligent robots; Intelligent structures; Manipulators; Robot control; Service robots; Velocity control;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631638
