IMMUNOLOGY-BASED MOTION CONTROL FOR MODULAR HYPER-REDUNDANT MANIPULATORS

摘要

Artificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance. This paper reports the application of the existing AIS paradigm for the distributive control of a modular multi-jointed, hyper-redundant manipulator. Modular robot usually implemented with simplified mathematical model to cope with the scenario of limited computation power and memory. In this paper, we investigate the viability of a multiagent immunology–based motion control for the trajectory control of modular hyper-redundant manipulators.