Abstract
The present work deals with manipulator arms characterized by the presence of an embedded distributed control system. More specifically, every single joint is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective 1-dof only separately controlled atomic manipulator, which is required to act in team with all the other joints in order to accomplish a global common task specified in the operational space. In this context, the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of a dynamic programming technique (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behavior; thus allowing to optimally execute the task by solely exploiting the control capabilities of each local processing unit, while not requiring any centralized knowledge about the overall arm geometry and kinematics.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
