{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T22:18:10Z","timestamp":1767651490240,"version":"3.41.2"},"reference-count":9,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2006,3,1]],"date-time":"2006-03-01T00:00:00Z","timestamp":1141171200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2006,3,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Presents an embedded MAS (Multi\u2010Agent System) based control method for multi link series manipulators.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The manipulator's completing operation work is based on several agents' cooperation. The entire embedded MAS of a manipulator is implemented in one ARM7 microprocessor. The multi agents and the communications between the agents are constructed depending on the real\u2010time multitasking capability and the system services of real time operation system,<jats:italic>\u03bc<\/jats:italic>C\/OS\u2010(tm). An improved distributed inverse kinematics algorithm, which is the foundation the agents' behavior strategies, and the system architecture designing are described in detail.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>This method is very suitable for tele\u2010operation redundant manipulators' embedded control systems designing, with high reliability.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>Using this paradigm, the embedded system firmware development for a redundant manipulator would be very easy and the code would be reusable. A few amendments should be made for miscellaneous manipulators.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>It is suitable for controlling a high reliability expected tele\u2010operation manipulator system.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The embedded MAS based manipulator control paradigm has several attractive advantages, led from MAS theory. Basing this method, we do not require computing the traditional inverse (or pseudoinverse) Jacobian matrix to control a redundant manipulator, especially for mobile redundant robot based on a compact embedded control system, expecting high reliability and potential complexity for coping with dynamical environments. The development procedure would be very easy and the code would be reusable. A few amendments should be made for different manipulators.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910610651392","type":"journal-article","created":{"date-parts":[[2006,7,3]],"date-time":"2006-07-03T17:52:13Z","timestamp":1151949133000},"page":"97-105","source":"Crossref","is-referenced-by-count":3,"title":["Research on embedded MAS based manipulator control"],"prefix":"10.1108","volume":"33","author":[{"given":"Kejun","family":"Ning","sequence":"first","affiliation":[]}],"member":"140","reference":[{"key":"key2022022020451097300_b7","unstructured":"Amar, R. et al. (2002), \u201cAgents paradigm to solve a complex optimization problem\u201d, in Amar, R. et al. (Eds), Proceedings of the First IEEE International Conference on Cognitive Informatics (ICCI'02), p. 247."},{"key":"key2022022020451097300_b5","unstructured":"Bohner, P. and Luppen, R. (1997), \u201cReactive multi\u2010agent based control of redundant manipulators\u201d, Proceedings of the 1997 IEEE Int. Conf. on Robotics and Automation,Vol. 2, pp. 1067\u201072."},{"key":"key2022022020451097300_b1","doi-asserted-by":"crossref","unstructured":"Kobayashi, H., Shimemura, E. and Suzuki, K. (1991), \u201cAn ultra\u2010multi link manipulator\u201d, Proceedings IROS '91. IEEE\/RSJ International Workshop on Intelligence for Mechanical Systems,Vol. 1, pp. 173\u20108.","DOI":"10.1109\/IROS.1991.174445"},{"key":"key2022022020451097300_b8","doi-asserted-by":"crossref","unstructured":"Labrosse, J. (2002), MicroC\/OS\u2010II The Real\u2010Time Kernel, 2nd ed., CMP Books, Gilroy, CA, CMP Media LLC, ISBN: 1\u201057820\u2010103\u20109.","DOI":"10.1201\/9781482295603"},{"key":"key2022022020451097300_b4","unstructured":"Mori, A., Naya, F., Osato, N. and Kawaoka, T. (1996), \u201cMultiagent\u2010based distributed manipulator control\u201d, Proceedings of the 1996 IEEE\/SICE\/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp. 289\u201096."},{"key":"key2022022020451097300_b2","unstructured":"Osato, N. (1993), \u201cAn action interpreter of a robot control agent\u201d, Proceedings of the 1993 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems,Vol. 2, pp. 1126\u201033."},{"key":"key2022022020451097300_b9","unstructured":"Philips Semiconductors (2003), LPC2106\/2105\/2104 User Manual, 2003, available at: www.philips.com\/."},{"key":"key2022022020451097300_b3","unstructured":"Regnier, S. and Duhaut, D. (1994), \u201cParallel resolution of the inverse kinematics\u201d, Proceedings of the 1994 IEEE Int. Conf. on Systems, Man, and Cybernetics,Vol. 1, pp. 599\u2010604."},{"key":"key2022022020451097300_b6","doi-asserted-by":"crossref","unstructured":"Yasuda, G. (2000), \u201cMicrocontroller implementation for distributed motion control of mobile robots\u201d, Proceedings of 6th International Workshop on Advanced Motion Control, pp. 114\u20109.","DOI":"10.1109\/AMC.2000.862840"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910610651392","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910610651392\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910610651392\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:00Z","timestamp":1753401000000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/33\/2\/97-105\/183946"}},"subtitle":[],"editor":[{"given":"Faye","family":"Smith","sequence":"first","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2006,3,1]]},"references-count":9,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2006,3,1]]}},"alternative-id":["10.1108\/01439910610651392"],"URL":"https:\/\/doi.org\/10.1108\/01439910610651392","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2006,3,1]]}}}