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 |
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| Title of host publication | 2009 IEEE International Conference on Industrial Technology, ICIT 2009 |
| DOIs | |
| 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 |
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Other
| Other | 2009 IEEE International Conference on Industrial Technology, ICIT 2009 |
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| Country | Australia |
| City | Churchill, VIC |
| Period | 09/2/10 → 09/2/13 |
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