Distributed event-based control of unifunctional multiple manipulator system

K. Munawar; M. Uchiyama

doi:10.1109/ROBOT.1998.677431

Distributed event-based control of unifunctional multiple manipulator system

K. Munawar, M. Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1817-1822
Number of pages	6
ISBN (Print)	078034300X
DOIs	https://doi.org/10.1109/ROBOT.1998.677431
Publication status	Published - 1998 Jan 1
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 1998 May 16 → 1998 May 20

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
ISSN (Print)	1050-4729

Other

Other	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country	Belgium
City	Leuven
Period	98/5/16 → 98/5/20

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.1998.677431

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Munawar, K., & Uchiyama, M. (1998). Distributed event-based control of unifunctional multiple manipulator system. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1817-1822). [677431] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677431

Distributed event-based control of unifunctional multiple manipulator system. / Munawar, K.; Uchiyama, M.

Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. p. 1817-1822 677431 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Munawar, K & Uchiyama, M 1998, Distributed event-based control of unifunctional multiple manipulator system. in Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998., 677431, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2, Institute of Electrical and Electronics Engineers Inc., pp. 1817-1822, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 98/5/16. https://doi.org/10.1109/ROBOT.1998.677431

Munawar K, Uchiyama M. Distributed event-based control of unifunctional multiple manipulator system. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc. 1998. p. 1817-1822. 677431. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.1998.677431

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