Distributed sensory-based control of a series manipulator

摘要

We have developed a sensory-based controller that can control the orientation of a single link in a tentacle-like manipulator without requiring communication with similar controllers for the other links of the manipulator. The manipulator is to be used as a platform for investigating various approaches to intelligent distributed control. This particular controller design was implemented as a proof of concept. Other solutions may now be compared to this one as a means of evaluation. The simulated manipulator consists of a series of actuated universal joints. Each universal joint has its own controller and uses sensory input about the motion and orientation of the supported link to provide closed loop control of the orientation of this link with respect to a fixed frame of reference. The aim is to get the manipulator to assume a specified configuration through independent control of the orientation of each link. The details and limitations of the resulting controller are discussed, as well as the challenges that the platform still present.