Abstract
The work deals with modular complex kinematic chains governed by an embedded distributed control system. More precisely, every joint of is assumed equipped with a simple local processing unit for properly driving its motion. As a consequence, each one of them plus the associated link is considered as a defective “1-dof only” separately controlled atomic manipulator, which is required to act in team with all the others, in order to accomplish to a common task specified in the operational space. In this framework the paper proposes a computationally distributed kinematic inversion technique that, via the on-line application of dynamic programming (based on a moderate data exchange among the processing units), allows the establishment of a global self-organizing behaviour; thus allowing the task execution by solely exploiting the control capabilities of each local processing unit, while also not requiring any acknowledge about the overall structure geometry and kinematics.
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