Title :
Distributed formation control for a modular mechanical system
Author :
Yoshida, Eiichi ; Murata, Satoshi ; Tomita, Kohji ; Kurokawa, Haruhisa ; Kokaji, Shigeru
Author_Institution :
Mech. Eng. Lab., AIST, Ibaraki, Japan
Abstract :
A distributed formation control method is proposed for a modular mechanical system. We have developed a totally decentralized system composed of many homogeneous mechanical units which are designed to change their connective configuration using only local information. The control method proposed in this paper enables the systems to re-organize themselves so that various configurations can be formed in a robust way. Computer simulations and experiments are carried out to show its effectiveness
Keywords :
adaptive systems; digital simulation; distributed control; intelligent control; manipulators; mobile robots; self-adjusting systems; connective configuration; distributed formation control method; homogeneous mechanical units; modular mechanical system; Computer simulation; Control systems; Distributed control; Hardware; Mechanical engineering; Mechanical systems; Mobile robots; Robot kinematics; Robust control; Self-assembly;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.655145
