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 | Proceedings of the IEEE International Conference on Industrial Technology |
| DOIs | |
| Publication status | Published - 2009 |
| Event | 2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia Duration: 2009 Feb 10 → 2009 Feb 13 |
Other
| Other | 2009 IEEE International Conference on Industrial Technology, ICIT 2009 |
|---|---|
| Country | Australia |
| City | Churchill, VIC |
| Period | 09/2/10 → 09/2/13 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Computer Science Applications
Cite this
Modal transformation for bilateral control and co-operational robot motion - Kinematics and dynamics. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.
Proceedings of the IEEE International Conference on Industrial Technology. 2009. 4939698.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
Y1 - 2009
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
BT - Proceedings of the IEEE International Conference on Industrial Technology
ER -