DocumentCode :
300784
Title :
Work on a highly distributed coordination control system
Author :
Luntz, Jonathan E. ; Messner, William
Author_Institution :
Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume :
4
fYear :
1995
fDate :
21-23 Jun 1995
Firstpage :
2838
Abstract :
This paper examines a distributed control system where a conveyor-like array of actuators cooperate to manipulate objects in a plane. Each manipulator has its own simple controller which communicates with the neighboring controllers, allowing coordinated motion over the entire array. The system is modeled as a continuous medium rather than a collection of discrete actuators. Physical analogies to nature, such as heat transfer and electric fields are used to generate useful behavior such as speed servoing of an object, passing of objects over manipulators, and collision avoidance between objects. Simulations of a single row of actuators are performed, and extensions to planar arrays are suggested
Keywords :
actuators; conveyors; cooperative systems; distributed control; path planning; position control; actuator array; collision avoidance; conveyor-like array; coordinated motion; discrete actuators; highly distributed coordination control system; manipulators; object manipulation; planar arrays; speed servoing; Collision avoidance; Communication system control; Control systems; Distributed control; Finite difference methods; Mechanical sensors; Process control; Robot kinematics; Sensor systems; Voltage control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
Type :
conf
DOI :
10.1109/ACC.1995.532369
Filename :
532369
Link To Document :
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