Abstract
The dynamic behaviors of redundant manipulators are simulated by applying decentralized motion control schema to manipulation problems. The schema models a motion control system as a set of simple mass control sub-systems to take control of each joint. Sub-systems that are a sort of an agent exchange the information of joint motion each other to control joint corresponding to its-self. The motion of manipulator is tailored by the independent action of sub-systems to be done with information exchange. Phase plane analysis is conceived as a simple method for realizing the mass control of each joint and it is applied for decentralized manipulator position control system base on the modeling. Numerical simulations are executed for investigating the feasibilities and the influences of the decentralized mass control base on phase plane analysis. Various ways and views are obtained to reflect correlation among sub-systems to the control decision.
