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

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


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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Whitney, D. E.: “Resolved motion rate control of manipulators and human prostheses,” IEEE Trans. Man-Machine Systems, MMS-10, 47 /53 (1969)Google Scholar
  2. 2.
    Paul, R. P.: “Robot Manipulators: Mathematics, P.ogramming, and Control,” MIT Press, Cambridge, MA (1981) 3 Klein, C. A. and Huang, C.-H.: “Review of pseudo-inverse control for use with kinematically redundant manipulators,” IEEE Trans. Systems, Man, and Cybernetics, SMC-13, 245 /250 (1983)Google Scholar
  3. 4.
    Orin, D. E. and Schrader, W. W.: “Efficient computation of Jacobian for robot manipulators,” Intl Robotics Res., 3(4), 66 /75 (1984)Google Scholar
  4. 5.
    Orin, D. E. et al.: “Pipeline/parallel algorithms for the Jacobian and inverse dynamics computations,” 1985 IEEE Intl Conf. Robotics and Automation, 785 /789 (1985)Google Scholar
  5. 6.
    Waldon, K. J. and Reidy, J.: “A study of a kinematically redundant manipulator structure,” Proc. 1986 IEEE Intl Conf. Robotics and Automation, vol. 1, 1 /8 (1986)Google Scholar
  6. 7.
    Sasaki, S.: “A new approach to the inverse kinematics of a multijoint robot manipulator using a minimization method,” Trans. S.c. Instrum. & Control Eng., 23(3), 274 /280 (1987)Google Scholar
  7. 8.
    Nakamura, Y. et al.: “unified computation of kinematics and dynamics for robot manipulators,” Trans. Soc. Instrum. & Control Eng., 23(5), 491 /498 (1987)Google Scholar
  8. 9.
    Tsai, Y. T. and Orin, D. E.: “A strictly convergent real-time solution for inverse kinematics of robot manipulators,” J. Robot. Syst., 4(4), 477 /501 (1987)Google Scholar
  9. 10.
    Chang, P. H.: “A closed-form solution for inverses kinematics of robot manipulators with redundancy,” IEEE J. Robot. Autom., RA-3(5), 393 /403 (1987)Google Scholar
  10. 11.
    Chiacchio, P. and Siciliano, B.: “A closed-loop Jacobian transport scheme for solving the inverse kinematics of nonredundant and redundant wrists,” J. Robot. Syst.,6(5), 601 /630 (1987)Google Scholar
  11. 12.
    Baker, D. R. and Wampler, C. W. II: “On the inverse kinematics of redundant manipulators,” Int’l J. Robot. Res., 7(2), 3 /21 (1980)Google Scholar
  12. 13.
    Sciavicco, L. and Siciliano, B.: “The augmented task space approach for redundant manipulator control,” Robot Control 1988, 125/129 (1988)Google Scholar
  13. 14.
    Hashimoto, R.: “Synergetic control of a hyper multi joint robotic arms,” Proc. 18th SICE Symposium on Control Theory, 267 /270 (1989)Google Scholar
  14. 15.
    Novakovic, Z. R.: “A Lyapunov-like methodology for solving the inverse kinematics problem,” Int’l J. Autom., 4(1), 57 /64 (1989)Google Scholar
  15. 16.
    Gupta, K. C. and Singh, V. K.: “A numerical algorithm for solving inverse kinematics,” Robotica, 7(2), 159 /164 (1989)Google Scholar
  16. 17.
    Colbaugh, R. and Glass, K.: “Cartesian control of redundant robot,” J. Robot. syst., 6(4), 427 /549 (1989)Google Scholar
  17. 18.
    Hirose, S. and Ma, S.: “Redundancy decomposition control for multi-joint manipulator,” Proc. 1989 IEEE Int’l Conf. Robotics and Automation, vol. 1, 119 /124 (1989)Google Scholar
  18. 19.
    Euler, J. A.: “Self motion determination based on actuator velocity bounds for redundant manipulators,” J. Robot. Syst., 6(4), 417 /425 (1989)Google Scholar
  19. 20.
    Hashimoto, R. and Kuba, Y.: “Dynamic control of hyper multi-joint manipulators with systolic-arrayed processor system,” Proc. Robotics Society of Japan Annual Conference, 651 /652 (1989)Google Scholar

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

Personalised recommendations