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

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 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

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/ICIT.2009.4939698

Fingerprint Dive into the research topics of 'Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics'. Together they form a unique fingerprint.

Cite this

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

@inproceedings{6b9d60769e694d65934099d9e4b26d2c,

title = "Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics",

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.",

author = "Sho Sakaino and Tomoya Sato and Kouhei Ohnishi",

year = "2009",

month = jul,

day = "17",

doi = "10.1109/ICIT.2009.4939698",

language = "English",

isbn = "1424435064",

series = "Proceedings of the IEEE International Conference on Industrial Technology",

booktitle = "2009 IEEE International Conference on Industrial Technology, ICIT 2009",

note = "2009 IEEE International Conference on Industrial Technology, ICIT 2009 ; Conference date: 10-02-2009 Through 13-02-2009",

}

TY - GEN

T1 - Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics

AU - Sakaino, Sho

AU - Sato, Tomoya

AU - Ohnishi, Kouhei

PY - 2009/7/17

Y1 - 2009/7/17

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=67650336873&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67650336873&partnerID=8YFLogxK

U2 - 10.1109/ICIT.2009.4939698

DO - 10.1109/ICIT.2009.4939698

M3 - Conference contribution

AN - SCOPUS:67650336873

SN - 1424435064

SN - 9781424435067

T3 - Proceedings of the IEEE International Conference on Industrial Technology

BT - 2009 IEEE International Conference on Industrial Technology, ICIT 2009

T2 - 2009 IEEE International Conference on Industrial Technology, ICIT 2009

Y2 - 10 February 2009 through 13 February 2009

ER -