Task description and control for redundant system by oblique coordinate control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

This paper proposes a novel task description for redundant systems as an extension of oblique coordinate control. Orthogonality of tasks are not necessary and interference between a task space and a null space is precisely described in off-diagonal parameters of "task mass matrix" in this method. Dynamics of the null space is also considered with its basic variables. In order to decouple the spaces, a null space regulator is proposed. Conventionally, this kind of decoupling is given by selecting a mass matrix as a weighting matrix of the pseudo inverse. On the other hand, arbitrary weighting matrices can be selected in our approach. Some comments for sub tasks are given. In a short word, " there is few need of sub tasks". Validity of the proposed method is analyzed and is confirmed by experiments.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume130
Issue number8
DOIs
Publication statusPublished - 2010

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Keywords

  • Acceleration control
  • Bilateral control
  • Hybrid control
  • Oblique coordinate control
  • Redundant system

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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