Abstract
This paper proposes two methods for position constrained bilateral control. The constraint is given by coordinate transform and additional compensators or command modification methods are not necessary in these methods. The constraint therefore does not destabilize a system and does not nonlinearize it. A difference of the proposed two methods is priority of tasks. The first one ensures slave position limitation and force regulation between two robots. The other one ensures position limitation and position regulation between the robots. Validity of the proposed methods is confirmed by experiments.
| Original language | English |
|---|---|
| Title of host publication | 2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010 |
| Pages | 2540-2544 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010 - Sapporo, Japan Duration: 2010 Jun 21 → 2010 Jun 24 |
Other
| Other | 2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010 |
|---|---|
| Country | Japan |
| City | Sapporo |
| Period | 10/6/21 → 10/6/24 |
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ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Electrical and Electronic Engineering
Cite this
Constrained bilateral control by oblique coordinate control taking priority of tasks into account. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.
2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010. 2010. p. 2540-2544 5542382.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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TY - GEN
T1 - Constrained bilateral control by oblique coordinate control taking priority of tasks into account
AU - Sakaino, Sho
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - This paper proposes two methods for position constrained bilateral control. The constraint is given by coordinate transform and additional compensators or command modification methods are not necessary in these methods. The constraint therefore does not destabilize a system and does not nonlinearize it. A difference of the proposed two methods is priority of tasks. The first one ensures slave position limitation and force regulation between two robots. The other one ensures position limitation and position regulation between the robots. Validity of the proposed methods is confirmed by experiments.
AB - This paper proposes two methods for position constrained bilateral control. The constraint is given by coordinate transform and additional compensators or command modification methods are not necessary in these methods. The constraint therefore does not destabilize a system and does not nonlinearize it. A difference of the proposed two methods is priority of tasks. The first one ensures slave position limitation and force regulation between two robots. The other one ensures position limitation and position regulation between the robots. Validity of the proposed methods is confirmed by experiments.
UR - http://www.scopus.com/inward/record.url?scp=77956524643&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77956524643&partnerID=8YFLogxK
U2 - 10.1109/IPEC.2010.5542382
DO - 10.1109/IPEC.2010.5542382
M3 - Conference contribution
SN - 9781424453955
SP - 2540
EP - 2544
BT - 2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010
ER -