Publication Date:
2013-08-31
Description:
A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.
Keywords:
COMMUNICATIONS AND RADAR
Type:
JPL, Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994 191-195 (SEE N95-23672 07-63); JPL, Third Internati
Format:
application/pdf
