Consideration on function mode design for motion construction

Seiji Uozumi, Koyo Yu, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479936335
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015


Other2015 IEEE International Conference on Mechatronics, ICM 2015


  • Function modes
  • disturbance observer
  • environmental adaptation
  • modal transformation
  • motion control
  • multi-degrees-of-freedom

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering


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