Oblique coordinate control for advanced motion control applied to micro-macro bilateral control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

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

14 Citations (Scopus)

Abstract

Abstract-A controller for oblique coordinates is proposed in this paper. In an oblique coordinate, certain vector is expressed by two forms. One is a covariant vector, the other is contravariant vector. Usually, position is described by a contravariant vector, and force is given by a covariant vector. In order to realize hybrid control in a oblique coordinate, position and force should be unified into same vectors. These vectors are synthesized by a metric tensor, and a novel hybrid controller for oblique coordinate is obtained. The dynamic properties are given by "task mass matrix". By this method, whatever tasks given by position and force would be decoupled. Micro-macro bilateral is considered as an example of the oblique coordinate control. It was confirmed by some simulations and an experiment.

Original languageEnglish
Title of host publicationIEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs
Publication statusPublished - 2009 Jul 17
EventIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain
Duration: 2009 Apr 142009 Apr 17

Publication series

NameIEEE 2009 International Conference on Mechatronics, ICM 2009

Other

OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
CountrySpain
CityMalaga
Period09/4/1409/4/17

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Sakaino, S., Sato, T., & Ohnishi, K. (2009). Oblique coordinate control for advanced motion control applied to micro-macro bilateral control. In IEEE 2009 International Conference on Mechatronics, ICM 2009 [4957183] (IEEE 2009 International Conference on Mechatronics, ICM 2009). https://doi.org/10.1109/ICMECH.2009.4957183