Jacobian transpose control: a foundation for multiagent manipulator control

Abstract

This paper has distilled emerging trends in practical real time robot architectures into two agent hypotheses and outlined a simple agent model to specify these systems. This hypothetical structure has been applied to manipulation robots through Jacobian transpose control (JTC). Under the assumption of interagent communication or sensing, JTC has been shown to be decentralizable, while possessing a single global goal representation. Further, conditions have been discussed that influence the simultaneous asymptotic stability of both local and global goals. Finally, the results of a multiprocess implementation of JTC was discussed in a preliminary demonstration of multiagent control.