A controller design method based on functionality

Toshiaki Tsuji, Kouhei Ohnishi, Asif Sabanovic

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Citations (Scopus)

Abstract

Robots in human environment need some redundancy for adaptation. It is therefore necessary to solve a complicated design issue of large-scale systems with hyper-DOF. The authors have proposed a design framework of functionality to solve the issue. Although the framework deals with task shifts and exception handling in a unified manner, it was limited to a multi-robot system in one-dimensional space. This study expands the framework to multi-DOF robots in three-dimensional space and shows a developed form. Cooperative Jacobian matrix is introduced for coordinate transformation. A new problem of interactions among function-based systems occurs along with the expansion. Disturbance observer is applied on each actuator to eliminate the interactions. The simplicity and explicitness of function-based controller design carry on despite the expansion since function-based systems are decoupled with disturbance observer.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages171-176
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

Fingerprint

Robots
Controllers
Jacobian matrices
Redundancy
Large scale systems
Actuators

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Tsuji, T., Ohnishi, K., & Sabanovic, A. (2006). A controller design method based on functionality. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 171-176). [1631653] https://doi.org/10.1109/AMC.2006.1631653

A controller design method based on functionality. / Tsuji, Toshiaki; Ohnishi, Kouhei; Sabanovic, Asif.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 171-176 1631653.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tsuji, T, Ohnishi, K & Sabanovic, A 2006, A controller design method based on functionality. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631653, pp. 171-176, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631653
Tsuji T, Ohnishi K, Sabanovic A. A controller design method based on functionality. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 171-176. 1631653 https://doi.org/10.1109/AMC.2006.1631653
Tsuji, Toshiaki ; Ohnishi, Kouhei ; Sabanovic, Asif. / A controller design method based on functionality. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 171-176
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