An autonomous distributed control of free-floating variable geometry trusses

Kosei Ishimura, M. C. Natori, Ken Higuchi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

An autonomous distributed control has been presented as novel control methods for complex or large systems. In this paper, it is applied to the position control of variable geometry trusses, which have high redundancy. It is shown that the fault-tolerance of the system is easily realized through this control method. Additional behavior for obstacle avoidance is also accomplished easily. Furthermore, the area of avoidable obstacles can be extended through the cooperation of each agent. Compared with a conventional control method using inverse kinematics, the proposed method is shown to be more effective from the viewpoint of calculation time.

Original languageEnglish
Pages (from-to)631-639
Number of pages9
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume46
Issue number2
DOIs
Publication statusPublished - 2003 Jun 1
Externally publishedYes

Fingerprint

Trusses
Geometry
Inverse kinematics
Position control
Collision avoidance
Fault tolerance
Redundancy

Keywords

  • Adaptive structure
  • Autonomous distributed control
  • Mechatronics and robotics
  • Space robot
  • Variable geometry truss

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

An autonomous distributed control of free-floating variable geometry trusses. / Ishimura, Kosei; Natori, M. C.; Higuchi, Ken.

In: JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, Vol. 46, No. 2, 01.06.2003, p. 631-639.

Research output: Contribution to journalArticle

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