Development of the holonic manipulator and its control

Author

Hirose, Michitaka

Author_Institution

Dept. of Mech. Eng., Tokyo Univ., Japan

fYear

1990

fDate

5-7 Dec 1990

Firstpage

91

Abstract

The holonic manipulator, characterized by autonomous built-in controllers distributed in its mechanical structure is introduced. One of the advantages of the holonic manipulator is a drastic decrease in wiring complexity within the manipulator. Another advantage is its high reliability. Due to a distributed controller and a double network, the reliability of the holonic manipulator is ´scalable´. Programming the manipulator requires the coordination of the built-in controllers. Several methods for controller coordination are introduced and discussed. Finally, the application of micro-machine technology to the holonic manipulator is discussed as a most promising future direction

Keywords

controllers; distributed control; micromechanical devices; robots; autonomous built-in controllers; control; controller coordination; distributed controller; double network; holonic manipulator; micro-machine technology; reliability; Actuators; Application software; Control systems; Distributed control; Embedded software; Intelligent sensors; Manipulators; Mechanical engineering; Mechanical sensors; Wiring;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1990., Proceedings of the 29th IEEE Conference on

Conference_Location

Honolulu, HI

Type

conf

DOI

10.1109/CDC.1990.203552

Filename

203552