Inverse Kinematics and Redundant Control Best-suited for Reconfigurable Robot

Abstract

This paper deals with the control algorithm for a reconfigurable robot system. Firstly, the concept of reconfigurable robot is described. Secondly, the distributed control in the system consisting of local-and central intelligence is explained. Then, the authors propose Virtual Velocity Transmission Algorithm (VVTA) as the best-suited non Jacobian-based inverse kinematics for this new system, and refer to the possible redundant control with VVTA. Lastly, effectiveness of thus proposed algorithm is confirmed by several simulation results.