Task hierarchy for position limitation and bilateral control by oblique coordinate control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

This paper proposes a method for composition of a task hierarchy as an example of oblique coordinate control. As a primary task, position limitation is implemented and bilateral control is realized secondary. This hierarchy is simply given by a multiple of coordinate transform matrices and the problem can be regarded as position-force hybrid controller in oblique coordinate. Thus, the interference of the tasks are easily described by "task mass matrix" and the limitation does not destabilize systems. Validity of the method is confirmed by some experiments.

Original languageEnglish
Pages1794-1799
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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