Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics

Sho Sakaino; Tomoya Sato; Kouhei Ohnishi

doi:10.1109/ICIT.2009.4939698

Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Department of System Design Engineering

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

7 Citations (Scopus)

Abstract

In this paper, modal transform method for cooperation working is proposed. With this method, the work is simply described by modal mass and arbitral number and location of robots are able to be controlled by conventional hybrid controller. Furthermore, rotation by linear actuators, one of the most important propositions in this research, is considered. Position, angle, force and torque are transformed into generalized coordinate, modal space, and geometric relations and dynamics are described. Validity of the proposed method was confirmed by an experiment.

Original language	English
Title of host publication	2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOIs	https://doi.org/10.1109/ICIT.2009.4939698
Publication status	Published - 2009 Jul 17
Event	2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia Duration: 2009 Feb 10 → 2009 Feb 13

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology

Other

Other	2009 IEEE International Conference on Industrial Technology, ICIT 2009
Country	Australia
City	Churchill, VIC
Period	09/2/10 → 09/2/13

Fingerprint

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

Cite this

Sakaino, S., Sato, T., & Ohnishi, K. (2009). Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics. In 2009 IEEE International Conference on Industrial Technology, ICIT 2009 [4939698] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2009.4939698

Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.

2009 IEEE International Conference on Industrial Technology, ICIT 2009. 2009. 4939698 (Proceedings of the IEEE International Conference on Industrial Technology).

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

Sakaino, S, Sato, T & Ohnishi, K 2009, Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics. in 2009 IEEE International Conference on Industrial Technology, ICIT 2009., 4939698, Proceedings of the IEEE International Conference on Industrial Technology, 2009 IEEE International Conference on Industrial Technology, ICIT 2009, Churchill, VIC, Australia, 09/2/10. https://doi.org/10.1109/ICIT.2009.4939698

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Access to Document

10.1109/ICIT.2009.4939698