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

Takashi Kageyama, Kouhei Ohnishi

研究成果: Paper査読

9 被引用数 (Scopus)

抄録

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.

本文言語English
ページ74-79
ページ数6
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 32002 7 5

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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