Modal system design of multi-robot systems by interaction mode control

Motion control technology in open environment will be more and more important. Motion systems should interact with other systems or environment. To adapt complicated environments and do tasks, a realization of multi-degree-of-freedom motion is necessary for human cooperating motion. This paper proposes a unified control approach for multi-robot systems by interaction mode control. The proposed interaction mode control considers only the interactions between the systems. The interactions are abstracted by using the quarry matrix. Since the transformed modes are independent to each other, it is possible to design controller in the modal space. This paper also proposes a novel control index named "hybrid ratio". The hybrid ratio is defined as the transfer function from the external acceleration input to the acceleration response of the system. Since it is possible to realize the assigned hybrid ratio in each mode according to the task, the motion command with the hybrid ratio is represented as the task language. Thus, the interaction mode control is able to be treated as the task kinematics. The proposed interaction mode control is applied for grasping motion by multi-robot systems. The experimental results show viability of the proposed method.