Abstract
The conventional demand on robots in industrial fields has been oriented mainly to mass production, but the demand nowadays is diverse to meet the trend toward high-variation and low-quantity production. To meet this demand, we have proposed a reconfigurable robot which can change a robot configuration easily. In this paper, we construct the multirate sampling control for a reconfigurable robot. Firstly, we describe the concept of a reconfigurable robot. Secondly, the decentralized control in the system consisting of local and central intelligence is explained. Thirdly, the advantage of the multirate sampling is explained. Lastly, the effectiveness of the proposed system is confirmed by several experimental results.
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