Distributed position control method for a hyper-redundant modular manipulator
文献类型：会议论文
| 作者 | Liu MY(刘明尧); Tan DL(谈大龙); Jiang, WS |
| 出版日期 | 2002 |
| 会议名称 | 4th World Congress on Intelligent Control and Automation |
| 会议日期 | June 10-14, 2002 |
| 会议地点 | SHANGHAI, China |
| 关键词 | hyper-redundant manipulator distributed control negotiation and cooperation multi-agent system |
| 页码 | 1251-1254 |
| 中文摘要 | According to multi-agent system theory and characteristics of the structural distribution of hyper-redundant modular manipulator, we establish the distributed control system for hyper-redundant modular manipulator. Each joint module is considered as an intelligent agent. Because the relations among agents are tightly coupled and each agent has no local subtask, agents need to coordinate their actions constantly in order to complete their tasks. We present a new negotiation and cooperation control algorithm. The proposed method is applied to a 2-dimension hyper-redundant modular manipulator with rotational joints. The effectiveness of the method are ascertained by computer simulations. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Tongji Univ, Shanghai Jiaotong Univ, E China Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Shanghai Assoc Automat |
| 会议录 | PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-7268-9 |
| WOS记录号 | WOS:000179017500267 |
| 源URL | [http://ir.sia.cn/handle/173321/8674]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Liu MY,Tan DL,Jiang, WS. Distributed position control method for a hyper-redundant modular manipulator[C]. 见:4th World Congress on Intelligent Control and Automation. SHANGHAI, China. June 10-14, 2002. |
入库方式： OAI收割
来源：沈阳自动化研究所
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