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This paper deals with the control algorithm for a reconfigurable robot system. Firstly, the concept of reconfigurable robot is described. Secondly, the distributed control in the system consisting of local-and central intelligence is explained. Then, the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited non Jacobian-based inverse kinematics for this new system, and...
This paper deals with a study on reconfigurable robots. Firstly, the concept of the reconfigurable robot is described. Secondly, construction of the distributed robot control system consisting of local- and central intelligence is explained. Then the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited control scheme for this system, and finally confirm by simulation the...
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