A Distributed Control For Hyper Redundant Manipulator

摘要

This paper proposes a con- trol law for a hyper redundant manipulator which has huge number of links. and moves in 3-dimensional gravity free space. Each controller can independently determine the way how to move each link. The necessary information for the controller is only on the target position, the po- sition of the end-effector and the position of the link. Each controller has the same control law and requires common information on the target position and the end-effector position. Thus we can call it distributed autonomous. The proposed control architecture has two other advantages: robustness and obstacle avoid- ance. The robustness means a property that: even if several number of links are out of order, the total sy5 tern still works normally. And the obstacle avoidance is a property: if the obstacle satisfles some conditions, the robotic manipulator avoids it automatically with- out adding any supplemental control.