Automatic reconfiguration of a robotic arm using a multi-agent approach

SL Britain, Alexander Gibb, Clive Roberts

Research output: Contribution to journalArticle

4 Citations (Scopus)


There are numerous methods for solving the inverse kinematic equations for a robotic arm. This paper proposes a novel, adaptive approach based on multiagent systems (MASS). An MAS employs a distributed, decentralized approach to problem solving that is not commonly employed in conventional robotic arm control. The MAS uses patterns abstracted from various configurations of the robotic arm to provide a means of solving inverse kinematic equations where there is a changing kinematic model. Such an approach is beneficial in applications such as the maintenance of power transmission lines, welding, and providing support to handicapped people. The method is demonstrated using a case study utilizing a six-degree-of-freedom Kawasaki FS02 industrial robotic arm. The results from the case study demonstrate a solution for 95 per cent of all attainable Cartesian coordinates.
Original languageEnglish
Pages (from-to)127-135
Number of pages9
JournalProceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering
Issue number2
Early online date18 Mar 2008
Publication statusPublished - 18 Mar 2008


  • self-adjusting systems
  • robot kinematics
  • agents
  • robotic manipulators
  • industrial robots


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