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

Sho Sakaino; Tomoya Sato; Kouhei Ohnishi

doi:10.1109/IPEC.2010.5542382

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

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010
Pages	2540-2544
Number of pages	5
DOIs	https://doi.org/10.1109/IPEC.2010.5542382
Publication status	Published - 2010 Sep 17
Event	2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010 - Sapporo, Japan Duration: 2010 Jun 21 → 2010 Jun 24

Publication series

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

Other

Other	2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010
Country	Japan
City	Sapporo
Period	10/6/21 → 10/6/24

ASJC Scopus subject areas

Energy Engineering and Power Technology
Electrical and Electronic Engineering

Access to Document

10.1109/IPEC.2010.5542382

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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 (2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sakaino, S, Sato, T & Ohnishi, K 2010, Constrained bilateral control by oblique coordinate control taking priority of tasks into account. in 2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010., 5542382, 2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010, pp. 2540-2544, 2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010, Sapporo, Japan, 10/6/21. https://doi.org/10.1109/IPEC.2010.5542382

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