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M. Steinegger, N. Plaschka, M. Melik-Merkumians, G. Schitter:
"A Framework for Modular and Distributable Control of Reconfigurable Robotic Systems";
Talk: 2016 IEEE International Conference on Industrial Technology, Taipei, Taiwan; 03-14-2016 - 03-17-2016; in: "Proceedings of the IEEE International Conference on Industrial Technology", (2016), 848 - 853.

In this paper, a distributable control approach for
reconfigurable robotic systems is presented. The approach is
based on the dynamic programming technique to solve the inverse
kinematics problem in a distributed way. This algorithm is
extended by an additional control input to reduce the orthogonal
error to the desired Cartesian trajectory and to ensure smooth
joint angles and velocities. The required torques to track the
desired Cartesian trajectory are then computed by application of
the well-known recursive Newton-Euler algorithm. Furthermore,
the entire algorithm is implemented according to the international
standard IEC 61499 and encapsulated into several reusable function
blocks for controlling a single joint. This reduces the effort for
implementing the control algorithm as well as the computational
time, since they can be transferred to the corresponding joint
control device. The evaluation of the algorithm is carried out on
a simulation of a manipulator with four degrees of freedom.

http://dx.doi.org/10.1109/ICIT.2016.7474862

https://publik.tuwien.ac.at/files/publik_248717.pdf