Immunology-based control framework for multi-jointed redundant manipulators

Abstract

Artificial 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 multi-agent-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 multi-agent immunology-based control framework for the trajectory control of a multi-jointed redundant manipulator.