著者

及部 七郎斎 堀 洋一

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.121, no.12, pp.1250-1255, 2001-12-01

被引用文献数

1

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A novel object transfer system named "Magic Carpet" composed of linear actuator array and driven by autonomous decentralized type control algorithm is proposed. An object is manipulated by a large number of contact points with many actuators, which differs from conventional systems like belt conveyor. In this paper, the control algorithm for such "distributed manipulation" is proposed.<br>Due to recent development of micromachine technology, distributed manipulation becomes more important. This system has a big advantage in its fault tolerance because it has a lot of actuators with poor performance to move a large heavy object. However, it has a serious wiring problem to be solved and homogeneous structure should be introduced because of a large number actuators.<br>To solve these problems, "combined control of central /autonomous decentralized algorithms" is proposed and evaluated by computer simulation and experiment.