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Proceedings Paper

Decentralized control algorithm for modular manipulators using coupled nonlinear dynamics
Author(s): Shinichi Kimura
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Paper Abstract

A basic decentralized control algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avoidance. The algorithm uses a coupled nonlinear spring as a model for a manipulator and calculates the shape of the manipulator to balance with the coupled spring. Because encoding using coupled nonlinear dynamics can explain various shapes very simply, we can reduce the complexity of obstacle avoidance and adaptation to partial faults.

Paper Details

Date Published: 4 October 2001
PDF: 8 pages
Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444156
Show Author Affiliations
Shinichi Kimura, Communications Research Lab. (Japan)


Published in SPIE Proceedings Vol. 4571:
Sensor Fusion and Decentralized Control in Robotic Systems IV
Gerard T. McKee; Paul S. Schenker, Editor(s)

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