A composition of decoupling motion controller based on momentum and its application for singular configurations

Sho Sakaino, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

A decoupling motion controller based on momentum is presented in this paper. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. Moreover, inertial force which has been treated as disturbance such as centrifugal and Coriolis force is modeled with this method. Then, position and force vector is united in work space using equivalent mass matrix. After that, an application for singular configuration is proposed. Several simulation and experimental results are shown to confirm the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages2331-2336
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: 2007 Nov 52007 Nov 8

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan, Province of China
CityTaipei
Period07/11/507/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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