DocumentCode :
3145349
Title :
Jacobian transpose control: a foundation for multiagent manipulator control
Author :
Monckton, S. ; Cherchas, Dale
Author_Institution :
Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada
Volume :
4
fYear :
1995
fDate :
22-25 Oct 1995
Firstpage :
3391
Abstract :
This paper has distilled emerging trends in practical real time robot architectures into two agent hypotheses and outlined a simple agent model to specify these systems. This hypothetical structure has been applied to manipulation robots through Jacobian transpose control (JTC). Under the assumption of interagent communication or sensing, JTC has been shown to be decentralizable, while possessing a single global goal representation. Further, conditions have been discussed that influence the simultaneous asymptotic stability of both local and global goals. Finally, the results of a multiprocess implementation of JTC was discussed in a preliminary demonstration of multiagent control
Keywords :
Jacobian matrices; cooperative systems; manipulators; stability; stability criteria; Jacobian transpose control; decentralizable control; interagent communication; interagent sensing; multiagent manipulator control; practical real-time robot architectures; simultaneous asymptotic stability; Control systems; Councils; Jacobian matrices; Manipulators; Mechanical engineering; Mobile robots; Process control; Prototypes; Robot control; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
Type :
conf
DOI :
10.1109/ICSMC.1995.538310
Filename :
538310
Link To Document :
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