Position constrained bilateral control by oblique coordinate control considering priority of tasks

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

This paper proposes two position constrained bilateral controllers. The constraint is given by coordinate transformation and additional compensator or command modification methods are not necessary. The constraint therefore does not destabilize the system and maintains linearity. The difference between the two proposed methods is the task priority. The first ensures slave position limitation and force regulation between two robots, the other ensures position limitation and position regulation between the robots. We analyzed the stability of the proposed controller. The validity of the proposed methods was confirmed experimentally.

Original languageEnglish
Pages (from-to)298-305
Number of pages8
JournalIEEJ Journal of Industry Applications
Volume2
Issue number6
DOIs
Publication statusPublished - 2013

Keywords

  • Bilateral control
  • Constrained system
  • Haptics
  • Oblique coordinate control
  • Position constraint

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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