Modal system design of multi-robot systems by interaction mode control
Modal system design of multi-robot systems by interaction mode control
复制标题
基于交互模式控制的多机器人系统模态系统设计
DOI：
10.1109/amc.2006.1631637
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Ohishi
中科院分区：
文献类型：
--
作者：
S. Katsura;K. Ohishi
开放环境下的运动控制技术将越来越重要。运动系统应该与其他系统或环境相互作用。为了适应复杂的环境和完成任务，需要实现多自由度运动，以实现人类的协同运动。提出了一种基于交互模式控制的多机器人系统统一控制方法。所提出的交互模式控制只考虑系统之间的相互作用。通过使用采石场矩阵的相互作用进行抽象。由于变换后的模态是相互独立的，因此可以在模态空间中设计控制器。本文还提出了一种新的控制指标“混合比”。混合比被定义为从外部加速度输入到系统的加速度响应的传递函数。由于可以根据任务在每个模式中实现分配的混合比，因此具有混合比的运动命令被表示为任务语言。因此，交互模式控制能够被视为任务运动学。所提出的交互模式控制适用于多机器人系统的抓取运动。实验结果表明了该方法的可行性
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 multidegree-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
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ