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 publicationIECON Proceedings (Industrial Electronics Conference)
Pages2331-2336
Number of pages6
DOIs
Publication statusPublished - 2007
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: 2007 Nov 52007 Nov 8

Other

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

Fingerprint

Momentum
Coriolis force
Controllers
Force control
Chemical analysis

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Sakaino, S., & Ohnishi, K. (2007). A composition of decoupling motion controller based on momentum and its application for singular configurations. In IECON Proceedings (Industrial Electronics Conference) (pp. 2331-2336). [4460285] https://doi.org/10.1109/IECON.2007.4460285

A composition of decoupling motion controller based on momentum and its application for singular configurations. / Sakaino, Sho; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2007. p. 2331-2336 4460285.

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

Sakaino, S & Ohnishi, K 2007, A composition of decoupling motion controller based on momentum and its application for singular configurations. in IECON Proceedings (Industrial Electronics Conference)., 4460285, pp. 2331-2336, 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON, Taipei, Taiwan, Province of China, 07/11/5. https://doi.org/10.1109/IECON.2007.4460285
Sakaino S, Ohnishi K. A composition of decoupling motion controller based on momentum and its application for singular configurations. In IECON Proceedings (Industrial Electronics Conference). 2007. p. 2331-2336. 4460285 https://doi.org/10.1109/IECON.2007.4460285
Sakaino, Sho ; Ohnishi, Kouhei. / A composition of decoupling motion controller based on momentum and its application for singular configurations. IECON Proceedings (Industrial Electronics Conference). 2007. pp. 2331-2336
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