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Proceedings Paper

Distributed Self-Organizing Intelligent Control For Dendritic Robotic Systems
Author(s): Alexander Y. K. Chen
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Paper Abstract

A new control methodology is presented to effectively operate a robotic system with redundant degrees of freedom. The utilized Decomposed Optimization Technique (DOT) is part of the AISP (An Intelligent Spatial Planner) development. DOT considers the robotic system as several connected subsystems with locally distributed intelligence. Each subsystem has certain degrees of freedom to pursue local optimum state. The resulting parallel distributed processing architecture presents a flexible structure to accommodate sophisticated manipulators with higher level of difficulty. The employed robot dynamics model for each subsystem is generically simple such that the corresponded read-time control scheme can incorporate self-correction mechanism in parameter identification.

Paper Details

Date Published: 1 February 1990
PDF: 9 pages
Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); doi: 10.1117/12.969914
Show Author Affiliations
Alexander Y. K. Chen, Scientific Research Associates, Inc. (United States)

Published in SPIE Proceedings Vol. 1196:
Intelligent Control and Adaptive Systems
Guillermo Rodriguez, Editor(s)

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