Processor Performance Required for Decentralized Kinematic Control Algorithm of Module-Type Hyper-Redundant Manipulator
Shinichi Kimura and Toshiyuki Okuyama
Space Communications Division, Communications Research Laboratory, Ministry of Posts and Telecommunications, 4-2-1 Nukui-Kitamachi, Koganei-shi, Tokyo 184, Japan
Based on the great progress of studies on decentralized autonomous systems, the decentralized autonomous control mechanism has expand its territory of applications to the control of redundant manipulators. Because local control systems are closely related in the decentralized autonomous control of redundant manipulators, the performance of local control systems requires careful consideration, particularly in treating the dynamic aspects of manipulators. In this paper, computer simulation is used to assess the effects of the processor performance of a decentralized autonomous control algorithm in adaptation to the reactive motion caused by the failure of actuators under microgravity conditions. The results show that the algorithm is so simple that conservative 16-bit processors are feasible as the local processor of the decentralized autonomous control algorithm. These results suggest that the decentralized autonomous control algorithm may have great advantages in hardware architecture cost and resources. The effect of conflicts among local processors on system performance is also discussed.