An approach to dynamical expression of system connection in autonomous motion system

This paper describes an expression for connection of system in decentralized autonomous system. Decentralized autonomous system has several elements which conduct autonomously and interact among them to realize the desired total motion of the system. Here, interaction of systems is considered from a view point of system connection. The system connection includes the hardware and software connections. To describe the hierarchical structure of the dynamical connection systems, this paper introduces the graph theory. The application of system connection to configuration control of the redundant manipulator is also proposed and several simulations are shown.