Decentralized autonomous control of the module type redundant manipulators which considered spatial limitation

Abstract

There is a concept to utilize module type redundant manipulators for Human support in manned space vehicle. Because the module type redundant manipulators have a lot of redundant degree of freedom and work space in manned space vehicle is limited - the modules need to decide their joint angles in autonomous and distributed manner according to the spatial constraints. In this paper a decentralized autonomous algorithm to decide shape of module type redundant manipulators in the limited space is introduce.