Fault Adaptive Kinematic Control Using Multiprocessor System and its Verification Using a Hyper-redundant Manipulator | Zendy

Shinichi Kimura | Zendy; Shigeru Tsuchiya | Zendy; Tomoki Takagi | Zendy; Shin-Ichiro NISHIDA | Zendy

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Fault Adaptive Kinematic Control Using Multiprocessor System and its Verification Using a Hyper-redundant Manipulator

Author(s) -

Shinichi Kimura,

Shigeru Tsuchiya,

Tomoki Takagi,

Shin-Ichiro NISHIDA

Publication year - 2001

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2001.p0540

Subject(s) - modular design , computer science , fault tolerance , multiprocessing , control engineering , control reconfiguration , self reconfiguring modular robot , kinematics , distributed computing , decentralised system , robot , scheme (mathematics) , fault (geology) , adaptation (eye) , control (management) , embedded system , engineering , robot control , parallel computing , artificial intelligence , mobile robot , classical mechanics , mathematical analysis , physics , mathematics , seismology , geology , operating system , optics

Decentralized autonomous control architecture and self-organizing control architecture have several advantages in space robots, the most fascinating of which is an adaptation for partial faults. The Communications Research Laboratory have proposed an ""Orbital Maintenance System"" (OMS) that maintains a space system. We have developed a modular manipulator, which can be controlled by distributed processors in each module and can overcome partial failures. In this paper, we introduce a decentralized control algorithm for modular manipulators and discuss its performance in computer simulations and experiments. The algorithm proved useful for inspection in modular manipulators, and robust to partial faults.

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