Title :
Inverse Kinematics and Redundant Control Best-suited for Reconfigurable Robot
Author :
Miwa, Nobuyasu ; Yubai, Kazuhiro ; Kataoka, Noritaka ; Hirai, Junji
Author_Institution :
Mie Univ., Tsu
Abstract :
This paper deals with the control algorithm for a reconfigurable robot system. Firstly, the concept of reconfigurable robot is described. Secondly, the distributed control in the system consisting of local-and central intelligence is explained. Then, the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited non Jacobian-based inverse kinematics for this new system, and refer to the possible redundant control with VVTA. Lastly, effectiveness of thus proposed algorithm is confirmed by several simulation results.
Keywords :
redundant manipulators; robot kinematics; Jacobian-based inverse kinematics; distributed control; reconfigurable robot; redundant control; virtual velocity transmission algorithm; Centralized control; Control systems; Intelligent actuators; Intelligent robots; Intelligent structures; Jacobian matrices; Robot kinematics; Robotics and automation; Service robots; Velocity control; Central intelligence; Collision Avoidance; Local intelligence; Non Jacobian-based Inverse Kinematics; Reconfigurable robot; Redundant manipulator control; VFTA; VVTA;
Conference_Titel :
Mechatronics, ICM2007 4th IEEE International Conference on
Conference_Location :
Kumamoto
Print_ISBN :
1-4244-1183-1
Electronic_ISBN :
1-4244-1184-X
DOI :
10.1109/ICMECH.2007.4280049
