Abstract
In this study, component based decentralized cooperative control system has been proposed for improving operating technology of multi-jointed manipulator, and the principle and basic structure of control system has been discussed. And we propose new-type component based decentralized cooperative control system to realize the additional links and changes structure of manipulator without to change the configuration of component controller. Although position, posture and trajectory control of end-effector has been realized only about manipulator with revolute joints. In this paper, local inverse kinematics for not only revolute joint but also prismatic joint is newly added to position inverse kinematics in component controller. We show that concept of local inverse kinematics and end-effector trajectory can be controlled by the manipulator mixed revolute and prismatic joints.
