A controller design method based on functionality
Tsuji, Toshiaki and Şabanoviç, Asif and Ohnishi, Kouhei (2006) A controller design method based on functionality. In: The 9th International Workshop on Advanced Motion Control, İstanbul
Robots in human environment need some redundancy for adaptation. It is therefore necessary to solve a complicated design issue of large-scale systems with hyper-DOF. The authors have proposed a design framework of functionality to solve the issue. Although the framework deals with task shifts and exception handling in a unied manner, it was limited to a multi-robot system in one-dimensional space. This study expands the framework to multi-DOF robots in three-dimensional space and shows a developed form. Cooperative Jacobian matrix is introduced for coordinate transformation. A new problem of interactions among function-based systems occurs along with the expansion. Disturbance observer is applied on each actuator to eliminate the interactions. The simplicity and explicitness of function-based controller design carry on despite the expansion since function-based systems are decoupled with disturbance observer.
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