Kinematics and dynamics of motion control based on acceleration control

Kiyoshi Ohishi, Yuzuru Ohba, Seiichiro Katsura

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper , reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume127
Issue number6
Publication statusPublished - 2007
Externally publishedYes

Fingerprint

Acceleration control
Motion control
Kinematics
Stiffness
Remote control
Mechatronics
Machine tools
Robotics

Keywords

  • Acceleration control
  • Bilateral control
  • Control stiffness
  • Modal coordinate
  • Motion control
  • Multi-inertia system

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Kinematics and dynamics of motion control based on acceleration control. / Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro.

In: IEEJ Transactions on Industry Applications, Vol. 127, No. 6, 2007.

Research output: Contribution to journalArticle

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