Multiagent Joint Control for Multi-Jointed Redundant Manipulators
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Multiagent Joint Control for Multi-Jointed Redundant Manipulators

Multiagent Joint Control for Multi-Jointed Redundant Manipulators


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About the Book

This dissertation, "Multiagent Joint Control for Multi-jointed Redundant Manipulators" by Kam-seng, Ng, 黃錦城, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: Abstract of thesis entitled MULTIAGENT JOINT CONTROL FOR MULTI- JOINTED REDUNDANT MANIPULATORS submitted by Kam Seng NG for the degree of Master of Philosophy at The University of Hong Kong in August 2005 A robot manipulator is designed to perform tasks such as manipulation, assembly and measurement. One of the key issues in robotics is the control of the mechanism to perform derived tasks. A manipulator relies on the actuated joint and the connected links to move the end-effector, and the control of this multi-jointed manipulator is achieved by the coordinated movement of joint motors. The overall effect of the joints on the end-effector is not directly obtainable or available from joint sensor readings. In addition, each task requires a degree of manipulation, while the manipulator provides degrees-of-freedom through connected links and actuated joints. When the degrees-of-freedom of a multi-jointed manipulator exceeds the degree of manipulation of a task, the control of the manipulator is said to have redundancy. The challenge of redundant control of a multi-jointed manipulator is that there exists an infinite number of configurations to achieve the particular task. In this research, a multi-jointed redundant manipulator is modelled as a chain of generic units consisting of actuated joints and connected links. The motion control of the multi-jointed redundant manipulator is achieved through the cooperation of a number of computation elements known as agents. This thesis presents a control scheme that is amenable for a multi-jointed redundant manipulator, namely an agent-based robot control scheme that captures the essences of a multi-jointed redundant manipulator that aims to fulfil the real-time performance requirements of such a class of manipulators. To implement the agent-based robot control scheme, an Artificial Immune System(AIS)-based behavioural control system is developed that is analogues with the human immune system. The behaviour implementation of agents is discussed, and implementations of behaviour are revealed. The implementation of the control scheme using a multi-jointed redundant manipulator, the Whole Arm Manipulator (WAM) as a case study was undertaken in the research. A mathematical analysis on the convergence of the agent-based robot control was conducted to show the ability of the agent-based robot control scheme to perform a number of typical trajectories. A MATLAB simulation for the WAM system is described. The simulation studies showed that accurate joint trajectories were produced for the typical tasks. However, the simulation using pseudo-inverse Jacobian control scheme could not complete some of the trajectories such as to command the WAM to prescribe a circular path. In contrast, the agent-based control scheme was able to control the joint to complete such a path. The experimental study using the actual WAM system further showed that the proposed control scheme can complete the tasks with smaller positioning errors. Experimental results also showed that the control scheme can control redundancy without resorting to solving high order polynomial functions. These findings indicate that the agent-based robot control scheme provides a promising approach to the control of redundancy, provides distributive robot joint control with reduced computation, and provides a scalable control scheme such that additional joint agents can be deployed for the control of added degrees-of-


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Product Details
  • ISBN-13: 9781361387436
  • Publisher: Open Dissertation Press
  • Publisher Imprint: Open Dissertation Press
  • Height: 279 mm
  • No of Pages: 216
  • Weight: 513 gr
  • ISBN-10: 1361387432
  • Publisher Date: 27 Jan 2017
  • Binding: Paperback
  • Language: English
  • Spine Width: 12 mm
  • Width: 216 mm


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