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

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

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

8 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 languageEnglish
Title of host publication2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOIs
Publication statusPublished - 2009 Jul 17
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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    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