Distributed Self-Organizing Intelligent Control For Dendritic Robotic Systems

Alexander Y. K. Chen

doi:10.1117/12.969914

1 February 1990 Distributed Self-Organizing Intelligent Control For Dendritic Robotic Systems

Alexander Y. K. Chen

Proceedings Volume 1196, Intelligent Control and Adaptive Systems; (1990) https://doi.org/10.1117/12.969914
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

A new control methodology is presented to effectively operate a robotic system with redundant degrees of freedom. The utilized Decomposed Optimization Technique (DOT) is part of the AISP (An Intelligent Spatial Planner) development. DOT considers the robotic system as several connected subsystems with locally distributed intelligence. Each subsystem has certain degrees of freedom to pursue local optimum state. The resulting parallel distributed processing architecture presents a flexible structure to accommodate sophisticated manipulators with higher level of difficulty. The employed robot dynamics model for each subsystem is generically simple such that the corresponded read-time control scheme can incorporate self-correction mechanism in parameter identification.

Citation Download Citation

Alexander Y. K. Chen "Distributed Self-Organizing Intelligent Control For Dendritic Robotic Systems", Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); https://doi.org/10.1117/12.969914

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