Decentralized Control of Redundant Manipulator Based on the Analogy of Heat and Wave Equations

Based on the analogy of heat and wave equations, novel decentralized control methods of a redundant manipulator are proposed. Because these control methods are based on real physical phenomena, physical sense of control parameters can be understood intuitively. Some traditional control methods can be reconstructed from the viewpoint of proposed methods. Furthermore, stable characteristics of the heat conduction imply stability of the control method. As case studies, three subjects are discussed: position control of the end-effector of manipulator, obstacle avoidance, grasping behavior. Some numerical results are shown to illustrate capabilities of proposed control methods.

Authors and Affiliations

1. Graduate School of Engineering, Hokkaido University, N13-W8, Kita-ku, Sapporo, Hokkaido, 060-8628, Japan

   Kosei Ishimura & Mitsuo Wada

2. The Institute of Space and Astronautical Science, 3-1-1 Yoshinodai, Sagamihara, Kanagawa, 229-8510, Japan

   M. C. Natori

Editors and Affiliations

1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

   Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

   Tamio Arai (Professor) (Professor)

3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

   Toshio Fukuda (Professor) (Professor)

4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

   Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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