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 languageEnglish
    Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1817-1822
    Number of pages6
    ISBN (Print)078034300X
    DOIs
    Publication statusPublished - 1998 Jan 1
    Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
    Duration: 1998 May 16 → 1998 May 20

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Volume2
    ISSN (Print)1050-4729

    Other

    Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
    CountryBelgium
    CityLeuven
    Period98/5/16 → 98/5/20

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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    • Cite this

    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