TY - GEN
T1 - Consideration on function mode design for motion construction
AU - Uozumi, Seiji
AU - Yu, Koyo
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - With the development of robot technology, the activities of robots are expected to enter the human environment. Robots in human environment need the large-scale system with multi-degrees-of freedom for environmental adaptation. Therefore, it is necessary to design a large-scale system efficiently and simply. Tsuji et al. proposed function based control method. This method decouples a large control system into small independent components called 'function' extracted by the 'function mode'. However, design method of function mode has not been clarified. Therefore, this paper considers the design method of function modes by fragmentation of the function mode. By using this method, independent control of complex tasks can be achieved. This method can be a guide for designing complex functions and improve the adaptability to a designer's intention and unknown environment. Proposed method is implemented in hybrid control system using three robot arms and each robot arm has two degrees of freedom. The validity of proposed method is verified by the experimental results.
AB - With the development of robot technology, the activities of robots are expected to enter the human environment. Robots in human environment need the large-scale system with multi-degrees-of freedom for environmental adaptation. Therefore, it is necessary to design a large-scale system efficiently and simply. Tsuji et al. proposed function based control method. This method decouples a large control system into small independent components called 'function' extracted by the 'function mode'. However, design method of function mode has not been clarified. Therefore, this paper considers the design method of function modes by fragmentation of the function mode. By using this method, independent control of complex tasks can be achieved. This method can be a guide for designing complex functions and improve the adaptability to a designer's intention and unknown environment. Proposed method is implemented in hybrid control system using three robot arms and each robot arm has two degrees of freedom. The validity of proposed method is verified by the experimental results.
KW - Function modes
KW - disturbance observer
KW - environmental adaptation
KW - modal transformation
KW - motion control
KW - multi-degrees-of-freedom
UR - http://www.scopus.com/inward/record.url?scp=84929376903&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929376903&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7083945
DO - 10.1109/ICMECH.2015.7083945
M3 - Conference contribution
AN - SCOPUS:84929376903
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 40
EP - 45
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -