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Conference Paper: Immunology-based control framework for multi-jointed redundant manipulators

TitleImmunology-based control framework for multi-jointed redundant manipulators
Authors
KeywordsArtificial immune system
Distributed control
Redundant robot control
Issue Date2004
PublisherIEEE.
Citation
2004 Ieee Conference On Robotics, Automation And Mechatronics, 2004, p. 318-323 How to Cite?
AbstractArtificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance. This paper reports the development of an AIS paradigm for the distributive control of a multi-jointed, redundant manipulator. Traditionally, manipulator control is achieved by analytical solutions. By adopting a multiagent-based control paradigm, a multi-jointed manipulator can be thought of as a group of separately controlled agents. In this paper, we investigate the viability of a multiagent immunology-based control framework for the trajectory control of a multi-jointed redundant manipulator.
Persistent Identifierhttp://hdl.handle.net/10722/46558
References

 

DC FieldValueLanguage
dc.contributor.authorLau, HYKen_HK
dc.contributor.authorNg, AKSen_HK
dc.date.accessioned2007-10-30T06:52:54Z-
dc.date.available2007-10-30T06:52:54Z-
dc.date.issued2004en_HK
dc.identifier.citation2004 Ieee Conference On Robotics, Automation And Mechatronics, 2004, p. 318-323en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46558-
dc.description.abstractArtificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance. This paper reports the development of an AIS paradigm for the distributive control of a multi-jointed, redundant manipulator. Traditionally, manipulator control is achieved by analytical solutions. By adopting a multiagent-based control paradigm, a multi-jointed manipulator can be thought of as a group of separately controlled agents. In this paper, we investigate the viability of a multiagent immunology-based control framework for the trajectory control of a multi-jointed redundant manipulator.en_HK
dc.format.extent496282 bytes-
dc.format.extent2836 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartof2004 IEEE Conference on Robotics, Automation and Mechatronicsen_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.subjectArtificial immune systemen_HK
dc.subjectDistributed controlen_HK
dc.subjectRedundant robot controlen_HK
dc.titleImmunology-based control framework for multi-jointed redundant manipulatorsen_HK
dc.typeConference_Paperen_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.scopuseid_2-s2.0-11244280132en_HK
dc.identifier.hkuros107262-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-11244280132&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.spage318en_HK
dc.identifier.epage323en_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK
dc.identifier.scopusauthoridNg, AKS=7202763566en_HK

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