An architecture of decentralized control for multi-degrees of freedom parallel manipulator

Takashi Kageyama, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Decentralized control is composed of more than two subsystems. Subsystems communicate each other to control the whole system. In this paper, an information of mechanical constraint for parallel manipulator is analyzed. When some joints of multi-degrees of freedom parallel manipulator are set to be passive, excessive interference force can be reduced. A case one joint of 3-linked arms is set to be passive is treated. The influence of a passive joint to the tip of the arm is derived by the configuration and the calculated reference torque. In the active joints, the interference force information from other joints are used to compensate the effect of passive joint. Such a information is also used for switching passive joint. As a result, the avoidance of singular point is realized. Taking advantage of the parallel manipulator which has redundant drive joints, fault compensation is achieved by extending the communication of subsystems. Comparing with the centralized control represents the availability of the decentralized control system by simulation.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages74-79
Number of pages6
Publication statusPublished - 2002
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

Fingerprint

Decentralized control
Manipulators
Torque
Availability
Control systems
Communication

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kageyama, T., & Ohnishi, K. (2002). An architecture of decentralized control for multi-degrees of freedom parallel manipulator. In International Workshop on Advanced Motion Control, AMC (pp. 74-79)

An architecture of decentralized control for multi-degrees of freedom parallel manipulator. / Kageyama, Takashi; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2002. p. 74-79.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kageyama, T & Ohnishi, K 2002, An architecture of decentralized control for multi-degrees of freedom parallel manipulator. in International Workshop on Advanced Motion Control, AMC. pp. 74-79, 7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings, Maribor, Slovenia, 02/7/3.
Kageyama T, Ohnishi K. An architecture of decentralized control for multi-degrees of freedom parallel manipulator. In International Workshop on Advanced Motion Control, AMC. 2002. p. 74-79
Kageyama, Takashi ; Ohnishi, Kouhei. / An architecture of decentralized control for multi-degrees of freedom parallel manipulator. International Workshop on Advanced Motion Control, AMC. 2002. pp. 74-79
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