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A Distributed Control Method of Kinematics and Dynamics for Cell Array Structured Manipulators

  • R. Hashimoto
  • Y. Kuba
  • M. Wada
  • H. Endo
Conference paper

Abstract

A new control method for the cell array structured robotic manipulators is developed. It configures a manipulator as a collection of cell robot links, and it controls in a synergetic way. It sets a virtual potential field to control the manipulator, and each cell link’s motion is totaled to form the desired motion of the manipulator. In this paper, fast kinematics algorithm and dynamics algorithm are discussed. Then, the algorithms are installed on a network of cell processors and examined the speed of calculation by experiment.

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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • R. Hashimoto
    • 1
  • Y. Kuba
    • 1
  • M. Wada
    • 1
  • H. Endo
    • 1
  1. 1.Industrial Products Research InstituteTsukuba-city, IbarakiJapan

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