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- W2148443799 abstract "A modular manipulator can be reconfigured according to its required function, conditions, and/or partial faults. We propose a control algorithm for a modular redundant manipulator. In this algorithm, local control processors develop independent inverse-kinematic solutions, and determine an overall solution by consensus. In this algorithm, since decisions are not made by a single CPU, but rather through negotiation among the local processors, the control algorithm has no explicit single failure point, which was suggested to be a weak point of our previous control algorithm. Since this new algorithm is also robust against asynchronous operation of the local processors, control performance is enhanced." @default.
- W2148443799 created "2016-06-24" @default.
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- W2148443799 date "2002-11-27" @default.
- W2148443799 modified "2023-09-25" @default.
- W2148443799 title "Consensus making of multi-CPU control of hyper-redundant manipulator" @default.
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- W2148443799 doi "https://doi.org/10.1109/icsmc.1998.726628" @default.
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