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

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.