Quarry of modal information from environment for advanced motion control

Seiichiro Katsura, Kouhei Ohnishi

Research output: Contribution to journalArticle

92 Citations (Scopus)

Abstract

Motion control in open environment will be more and more important. The recent machines are required to have an ability to contact unknown environment. The environmental information is a key to be compliant to unknown environment. It is obtained from the modal decomposition. The environment may have infinite modes. On the contrary, motion control systems have finite number of degree-of-freedom (DOF) for their motion. It is necessary for motion controller to quarry information from the environment at least to the extents of DOF. This paper develops a novel viewpoint of motion control based on quarry of environmental information. A quarry process of information from the environment using Hadamard matrix has been proposed. An extension method of the Hadamard matrix is proposed and quarry matrix is generalized in this paper. This paper shows a quarry of the planar environmental modes using the third-order quarry matrix. The motion of a robot with three supporting points has three modes, which are heaving, rolling and pitching modes. As a result, compliant motion control to unknown environment is attained in each mode. The modal system design method based on the quarry matrix will be a fundamental technique of design of decentralized system.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume126
Issue number4
Publication statusPublished - 2006
Externally publishedYes

Fingerprint

Quarries
Motion control
Hadamard matrices
Degrees of freedom (mechanics)
Systems analysis
Robots
Decomposition
Control systems
Controllers

Keywords

  • Decentralized system
  • Environmental information
  • Hadamard matrix
  • Modal decomposition
  • Motion control
  • Quarry process

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Quarry of modal information from environment for advanced motion control. / Katsura, Seiichiro; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 126, No. 4, 2006.

Research output: Contribution to journalArticle

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