TY - GEN
T1 - Distributed event-based control of unifunctional multiple manipulator system
AU - Munawar, K.
AU - Uchiyama, M.
PY - 1998/1/1
Y1 - 1998/1/1
N2 - Many different control procedures and task execution strategies have been developed for multiple robots cooperation. Most of them are centralized and hence become very complex with increase in number of robots or their complexity. For this reason, the distributed control approach is found very attractive and the event-based control has enhanced its effectiveness. However, they demand the robots to be autonomous in all respects, and hence have found their applications for autonomous mobile robots or manipulator arms with abundant sensors and actuators. This paper, in contrast, has used these control approaches for a immobile multiple manipulator system with robots having only two degrees of freedom, while one of them is passive and with minimal sensory informations. Computer simulations show that it is also practicable to execute these schemes for an under-Actuated system.
AB - Many different control procedures and task execution strategies have been developed for multiple robots cooperation. Most of them are centralized and hence become very complex with increase in number of robots or their complexity. For this reason, the distributed control approach is found very attractive and the event-based control has enhanced its effectiveness. However, they demand the robots to be autonomous in all respects, and hence have found their applications for autonomous mobile robots or manipulator arms with abundant sensors and actuators. This paper, in contrast, has used these control approaches for a immobile multiple manipulator system with robots having only two degrees of freedom, while one of them is passive and with minimal sensory informations. Computer simulations show that it is also practicable to execute these schemes for an under-Actuated system.
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U2 - 10.1109/ROBOT.1998.677431
DO - 10.1109/ROBOT.1998.677431
M3 - Conference contribution
AN - SCOPUS:0031638793
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1817
EP - 1822
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -