Distributed Fail-Safe Structure for Collaboration of Multiple Manipulators

Cooperative systems with network connection have many possibilities but many problems to be solved. The most important problem is to avoid unstable oscillation caused by the fact that each unit is connected by both of communication network and physical relation. In this paper, we propose a method to avoid such unstable oscillation. The proposed method gives a kind of limiter to each subsystem to avoid fatal damages of the whole system.