A controller design method for multirobot systems based on task projection matrix

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

Future motion systems should interact with other systems and unstructured environments. Therefore, a realization of multirobot systems and impedance control systems is necessary in order to adapt to various environments. This paper proposes a task projection control in an attempt to achieve a unified control of multirobot systems. First, the interactions are abstracted by using a quarry matrix. Then, the center of the motion is changed based on a task projection matrix. The task projection matrix consists of a quarry matrix, normalization matrix, and a projection matrix. Each desired motion can be designed and achieved independently, though the target object is an entirely-unknown object. This paper also proposes a novel control index named 'hybrid angle'. The hybrid angle is defined as a ratio of an effect of a position control system and a force control system. The relationship between the hybrid angle and the control stiffness is clarified in this paper. The proposed task projection control is applied for grasping motion by multirobot systems. Two kinds of experiments are conducted. One is a motion division based on the task projection matrix, and the other is an impedance control based on the hybrid angle. The experimental results show the viability of the proposed method.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ213-218
ページ数6
DOI
出版ステータスPublished - 2013 7月 1
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2月 272013 3月 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
国/地域Italy
CityVicenza
Period13/2/2713/3/1

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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