抄録
Component based decentralized cooperative control system has been discussed for improving operating technology of multi- jointed redundant manipulator as well as the principle and basic structure of control system. The system consists of a set of components. The component is a basic motion control system to make control of driving unit corresponding to each manipulator part based on the principle of local kinematics. The motion of manipulator is tailared by cooperation base on information interchange in terms of the local control output of components. The control of various types of manipulator with dynamic reconfiguration is enable it without reconfiguration of control system. This paper deals with a principle of local inverse and forward kinematics for revolute and prismatic joint, and position and trajectory control of end-effector for complicated structure manipulator in which revolute and prismatic joints are mixed.
