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Manipulator Control with Trajectory-bounded Based on Multi-Agent(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2000年06期
Page:
490-493
Research Field:
Publishing date:

Info

Title:
Manipulator Control with Trajectory-bounded Based on Multi-Agent
Author(s):
ShengAndong WangYuangang ChenChun LuTaiquan
Department of Automation,NUST,Nanjing 210094
Keywords:
manipulator robot cont rol agent
PACS:
TP241
DOI:
-
Abstract:
With the complexity of robot s, the Inverse Kinematics Algorithm has fallen under many restrict s. Since 1990s some control algorithms have been presented in manipulator based on mult-i agent . Although the algorithms broke the limitation of t radit ional robot control ones depended on the accurate model, the t rajectory of manipulator end w as f ree in the algorithms for a manipulator based on mult-i agent. On the basis of the need for real operation, the cont rol st rateg y of planned t rajectory based on mult-i ag ent w as presented, the manipulator end g ot to each sampling point of the trajectory in turn, so that the manipulator end could run along the expected trajectory . It w ill provide the necessary foundat ion for the manipulator in operat ion of obstacle avoiding. The concept of f itness w as presented in order to cont rol the precision of the end and the feasibility of st rategy w as demonst rated by the simulat ion result .

References:

1 Osato N. An action interpreter of a r obot control ag ent. IEEE/ SICE/ RSJ, 1993( 7) : 1126~ 1133
2 Mori A. Mult i ag ent- based distr ibuted manipulator control. IEEE/ SICE/ RSJ, 1996( 5) : 290~ 196
3 赵春霞. 虚拟环境下机器人装配单元编程与系统仿真技术的研究: [ 博士学位论文] .哈尔滨: 哈尔滨工业大学, 1998

Memo

Memo:
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Last Update: 2013-03-25