DocumentCode :
3077564
Title :
Development of the holonic manipulator and its control
Author :
Hirose, Michitaka
Author_Institution :
Dept. of Mech. Eng., Tokyo Univ., Japan
fYear :
1990
fDate :
5-7 Dec 1990
Firstpage :
91
Abstract :
The holonic manipulator, characterized by autonomous built-in controllers distributed in its mechanical structure is introduced. One of the advantages of the holonic manipulator is a drastic decrease in wiring complexity within the manipulator. Another advantage is its high reliability. Due to a distributed controller and a double network, the reliability of the holonic manipulator is ´scalable´. Programming the manipulator requires the coordination of the built-in controllers. Several methods for controller coordination are introduced and discussed. Finally, the application of micro-machine technology to the holonic manipulator is discussed as a most promising future direction
Keywords :
controllers; distributed control; micromechanical devices; robots; autonomous built-in controllers; control; controller coordination; distributed controller; double network; holonic manipulator; micro-machine technology; reliability; Actuators; Application software; Control systems; Distributed control; Embedded software; Intelligent sensors; Manipulators; Mechanical engineering; Mechanical sensors; Wiring;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
Type :
conf
DOI :
10.1109/CDC.1990.203552
Filename :
203552
Link To Document :
بازگشت