Advanced task realization of multi-robot systems by interaction mode control

Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

This paper proposes a unified control approach for multi-robot systems by interaction mode control. The proposed interaction mode control considers only the interactions between the systems. The interactions are abstracted by using the quarry matrix. Since the transformed modes are independent to each other, it is possible to design controller in the modal space. This paper also proposes a novel control index named "hybrid ratio". The hybrid ratio is defined as the influence of the external acceleration input to the acceleration response of the system. Since it is possible to realize the assigned hybrid ratio in each mode according to the task, the motion command with the hybrid ratio is represented as the task code. Furthermore, the task code is able to be changed during the motion. Thus, the interaction mode control is treated as the task kinematics. As a result, intuitive and flexible controller design is attained by the proposed method. The proposed interaction mode control is applied for cooperative transportation by multi-robot systems. The experimental results show viability of the proposed method.

Original languageEnglish
Pages (from-to)554-562+2
Journalieej transactions on industry applications
Volume127
Issue number6
Publication statusPublished - 2007 Jun 14
Externally publishedYes

Keywords

  • Acceleration control
  • Decentralized control
  • Disturbance observer
  • Haptics
  • Interaction mode control
  • Modal decomposition
  • Motion control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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