An Autonomous Distributed Control of Free-Floating Variable Geometry Trusses

• ISHIMURA Kosei

  Systems and Information Engineering, Graduate School of Hokkaido University

• NATORI M. C.

  Space Structures Laboratory, The Institute of Space and Astronautical Science

• HIGUCHI Ken

  Space Structures Laboratory, The Institute of Space and Astronautical Science

書誌事項

タイトル別名

• Autonomous Distributed Control of Free Floating Variable Geometry Trusses

抄録

An autonomous distributed control has been presented as novel control methods for complex or large systems. In this paper, it is applied to the position control of variable geometry trusses, which have high redundancy. It is shown that the fault-tolerance of the system is easily realized through this control method. Additional behavior for obstacle avoidance is also accomplished easily. Furthermore, the area of avoidable obstacles can be extended through the cooperation of each agent. Compared with a conventional control method using inverse kinematics, the proposed method is shown to be more effective from the viewpoint of calculation time.

収録刊行物

• JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing

  JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing 46 (2), 631-639, 2003

  一般社団法人 日本機械学会

キーワード

• Space Robot
• Adaptive Structure
• Mechatronics and Robotics
• Autonomous Distributed Control
• Variable Geometry Truss

詳細情報

• CRID: 1390282679655938816
• NII論文ID: 110004155631
• NII書誌ID: AA11179487
• DOI: 10.1299/jsmec.46.631
• ISSN: 1347538X
• ISSN: 13447653
• NDL書誌ID: 6587677
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6587677
• Web Site: http://www.jstage.jst.go.jp/article/jsmec/46/2/46_2_631/_pdf
• 本文言語コード: en
• データソース種別:
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  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可