A controller design method based on functionality

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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

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Abstract

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.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Asif Şabanoviç
Date Deposited: 04 Dec 2006 02:00
Last Modified: 26 Apr 2022 08:32
URI: https://research.sabanciuniv.edu/id/eprint/1178

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