2P1-B36 分散アプリケーション構築用ツールによる分散制御シミュレーション

概要

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In this study, the method of easily composing the component by using the decentralized system construction toolkit that has advanced development in this research consortium is described. To the system of the object that composes the component, decentralized control system for component type multi-jointed manipulator is used. This is 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. This proposed control system can be developed the controller for the custom-made manipulator easily. This report describes the result of the application to the distributed locus control robot arm. It composes of a different decentralized form.
一般社団法人日本機械学会の論文