A computationally distributed self-organizing algorithm for the control of manipulators in the operational space

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 4050-4055

  Casalino, G ^a   Turetta, A ^a  

^a UNIVERSITY OF GENOA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL GEOMETRY; END EFFECTORS; KINEMATICS; KNOWLEDGE BASED SYSTEMS; ROBOTIC ARMS; SELF ORGANIZING MAPS;

ATOMIC MANIPULATORS; EMBEDDED CONTROL SYSTEM; MANIPULATOR ARMS;

MANIPULATORS;

EID: 33846165438     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570741     Document Type: Conference Paper

References (13)

1. M. Aicardi, G. Cannata, and G. Casalino, "Stability and robustness analysis of a two layered hierarchical architecture for the control of robots in the operational space," 1995 IEEE Int. Conf. on Robotics and Automation, pp. 2771-2778, 1995.
2. IEEE-ASME Transaction on Mechatronichs: Focused Section on Self-Reconfigurable Robots (9 papers), Vol. 7, No 4, December 2002.
3. G Casalino, A Turetta: "Coordination and Control of Multiarm Mobile Manipulators", in B. Siciliano, A. De Luca, C. Melchiorri, G. Casalino: "Advances in Control of Articulated and Mobile Robots", pp. 171-185, Springer Verlag, Germany, 2003
4. G. Casalino,A. Turetta: "Coordination and Control of Multiarm, Non-Holonomic, Mobile Manipulators", Int. Conf. on Intelligent Robot and Systems (IROS 2003), Las Vegas, Nevada, USA. Oct. 2003.
5. G. Casalino, A. Turetta: "Modular Composition and Self-Coordination Technique for Mobile Manipulators", IEEE Conf. on Robotics and Automation (ICRA 2004), New Orleans, Usa, April 2004.
6. Y. Nakamura, Advanced Robotics: Redundancy and Optimization, AddisonWesley, 1991.
7. T. Fukuda, S. Nagakawa: "Dynamically reconfigurable robot system", Proc. IEEE Conf. Robotics and Automation, Philadelphia, pp. 1581-1586, 1988.
8. C.Y. Baldwin, K.S. Clark: "Design rules: the power of modularity", MIT Press, Cambridge, 2000.
9. L. Kelmar, P. Khosla: "Automatic generation of kinematics for a reconfigurable modular manipulator systems", Proc. IEEE Conf. Robotics and Automation, Philadelphia, pp. 663-668, 1988.
10. D. Tesar, M.S. Butler: "A generalized modular architecture for robot structures", ASME J. Manuf. Rev. (2-2), pp. 91-117, 1989.
11. I.M. Chen, G. Yang, I.G. Kang: "Numerical inverse kinematics for modularreconfigurable robots", J. Robotic Systems (16-4), pp. 213-225, 1999.
12. Chen, W., Chen, I.-M., Lim, W.K., Yang, G., "Cartesian Coordinate Control for Redundant Modular Robots," IEEE International Conference on System, Man, and Cybernetics, Nashville, Tennessee, USA, 2000.
13. Chen, I-M., Gao, Y., "Closed-Form Inverse Kinematics Solver for Reconfigurable Robots," IEEE Int. Conf. Robotics and Automation, Seoul, Korea, pp2395-2400, 2001.