ユニット構成のロボットにおける制御系構成と情報管理

概要

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Robotic systems can be made flexible in their size, degrees of freedom, outputs for a desired task by composing them of identical units. There are three basic characteristics which are desirable in such systems; (1) expandability, (2) perceptibility of unit's location, and (3) fault tolerance. These characteristics of the system can be varied by the networking and knowledge distribution scheme employed. This paper proposes a method of classifying and comparing networking schemes for such robotic systems based on the above-mentioned three basic characteristics, and the optimal networking scheme is then made clear for a particular application. An experimental transfer robot composed of identical units, each of which has nineteen arms, was built and the experimental results are shown to support the proposed method.
一般社団法人日本機械学会の論文
1991-08-25