Constrained bilateral control by oblique coordinate control taking priority of tasks into account

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

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

1 Citation (Scopus)

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 languageEnglish
Title of host publication2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010
Pages2540-2544
Number of pages5
DOIs
Publication statusPublished - 2010 Sep 17
Event2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010 - Sapporo, Japan
Duration: 2010 Jun 212010 Jun 24

Publication series

Name2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010

Other

Other2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010
CountryJapan
CitySapporo
Period10/6/2110/6/24

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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