An autonomous distributed control of free-floating variable geometry trusses

Kosei Ishimura, M. C. Natori, Ken Higuchi

研究成果: Article

2 引用 (Scopus)

抄録

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.

元の言語English
ページ(範囲)631-639
ページ数9
ジャーナルJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
46
発行部数2
DOI
出版物ステータスPublished - 2003 6 1
外部発表Yes

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Trusses
Geometry
Inverse kinematics
Position control
Collision avoidance
Fault tolerance
Redundancy

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

これを引用

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