Modal system design of multi-robot systems by interaction mode control

Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to conferencePaper

8 Citations (Scopus)

Abstract

Motion control technology in open environment will be more and more important. Motion systems should interact with other systems or environment. To adapt complicated environments and do tasks, a realization of multi-degree-of-freedom motion is necessary for human cooperating motion. 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 transfer function from 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 language. Thus, the interaction mode control is able to be treated as the task kinematics. The proposed interaction mode control is applied for grasping motion by multi-robot systems. The experimental results show viability of the proposed method.

Original languageEnglish
Pages84-89
Number of pages6
DOIs
Publication statusPublished - 2006 Nov 21
Externally publishedYes
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Katsura, S., & Ohishi, K. (2006). Modal system design of multi-robot systems by interaction mode control. 84-89. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631637