Consideration on function mode design for motion construction

Seiji Uozumi, K. Yu, K. Ohnishi
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Abstract

With the development of robot technology, the activities of robots are expected to enter the human environment. Robots in human environment need the large-scale system with multi-degrees-of freedom for environmental adaptation. Therefore, it is necessary to design a large-scale system efficiently and simply. Tsuji et al. proposed function based control method. This method decouples a large control system into small independent components called “function” extracted by the “function mode”. However, design method of function mode has not been clarified. Therefore, this paper considers the design method of function modes by fragmentation of the function mode. By using this method, independent control of complex tasks can be achieved. This method can be a guide for designing complex functions and improve the adaptability to a designer's intention and unknown environment. Proposed method is implemented in hybrid control system using three robot arms and each robot arm has two degrees of freedom. The validity of proposed method is verified by the experimental results.
运动结构功能模式设计的思考
随着机器人技术的发展,机器人的活动有望进入人类环境。人类环境中的机器人需要具有多自由度的大系统来适应环境。因此,有必要设计一个高效、简单的大型系统。Tsuji等人提出了基于函数的控制方法。该方法将大型控制系统解耦成由“函数模式”提取的称为“函数”的小型独立组件。然而,功能模式的设计方法尚未明确。因此,本文通过对功能模式的碎片化来考虑功能模式的设计方法。利用该方法可以实现对复杂任务的独立控制。该方法可以指导复杂功能的设计,提高对设计者意图和未知环境的适应性。将所提出的方法应用于由三个机械臂组成的混合控制系统中,每个机械臂有两个自由度。实验结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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