Fault adaptive kinematic control using multi processor system

Decentralized autonomous control architecture and self-organizing control architecture have several advantages in space robots-the most fascinating of which is an adaptation for partial faults. The Ministry of Posts and Telecommunications and the Communications Research Laboratory have proposed an "Orbital Maintenance System" (OMS) that maintains a space system. We have developed a modular-type manipulator, which can be controlled by distributed processors in each module and can overcome partial failures. In this paper, we introduce a decentralized control algorithm for module-type manipulators and discuss its performance in computer simulations and experiments. The algorithm proved useful for inspection in module-type manipulators, and robust to partial faults