A composition of decoupling motion controller based on momentum and its application for singular configurations

Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

A decoupling motion controller based on momentum is presented in this paper. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. Moreover, inertial force which has been treated as disturbance such as centrifugal and Coriolis force is modeled with this method. Then, position and force vector is united in work space using equivalent mass matrix. After that, an application for singular configuration is proposed. Several simulation and experimental results are shown to confirm the validity of the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
ページ2331-2336
ページ数6
DOI
出版ステータスPublished - 2007 12 1
イベント33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
継続期間: 2007 11 52007 11 8

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan, Province of China
CityTaipei
Period07/11/507/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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