Realization of advanced hybrid control through oblique coordinate control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticle

13 Citations (Scopus)

Abstract

In this paper, we propose position/force hybrid control in oblique coordinate. Position and force tasks are transformed by "task Jacobian matrix" and the dynamic properties are given by "task mass matrix". Bilateral control between different degrees-of-freedom systems is implemented, and its validity is experimentally verified.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume130
Issue number3
DOIs
Publication statusPublished - 2010

Fingerprint

Jacobian matrices

Keywords

  • Acceleration control
  • Bilateral control
  • Force control
  • Hybrid control
  • Oblique coordinate

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Realization of advanced hybrid control through oblique coordinate control. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 130, No. 3, 2010.

Research output: Contribution to journalArticle

Sakaino, Sho ; Sato, Tomoya ; Ohnishi, Kouhei. / Realization of advanced hybrid control through oblique coordinate control. In: IEEJ Transactions on Industry Applications. 2010 ; Vol. 130, No. 3.
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