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.
|出版ステータス||Published - 2002 12 1|
|イベント||7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia|
継続期間: 2002 7 3 → 2002 7 5
|Other||7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings|
|Period||02/7/3 → 02/7/5|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用