Inverse Kinematics and Redundant Control Best-suited for Reconfigurable Robot

Author

Miwa, Nobuyasu ; Yubai, Kazuhiro ; Kataoka, Noritaka ; Hirai, Junji

Author_Institution

Mie Univ., Tsu

fYear

2007

fDate

8-10 May 2007

Firstpage

1

Lastpage

6

Abstract

This paper deals with the control algorithm for a reconfigurable robot system. Firstly, the concept of reconfigurable robot is described. Secondly, the distributed control in the system consisting of local-and central intelligence is explained. Then, the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited non Jacobian-based inverse kinematics for this new system, and refer to the possible redundant control with VVTA. Lastly, effectiveness of thus proposed algorithm is confirmed by several simulation results.

Keywords

redundant manipulators; robot kinematics; Jacobian-based inverse kinematics; distributed control; reconfigurable robot; redundant control; virtual velocity transmission algorithm; Centralized control; Control systems; Intelligent actuators; Intelligent robots; Intelligent structures; Jacobian matrices; Robot kinematics; Robotics and automation; Service robots; Velocity control; Central intelligence; Collision Avoidance; Local intelligence; Non Jacobian-based Inverse Kinematics; Reconfigurable robot; Redundant manipulator control; VFTA; VVTA;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, ICM2007 4th IEEE International Conference on

Conference_Location

Kumamoto

Print_ISBN

1-4244-1183-1

Electronic_ISBN

1-4244-1184-X

Type

conf

DOI

10.1109/ICMECH.2007.4280049

Filename

4280049