Constrained bilateral control by oblique coordinate control taking priority of tasks into account

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper proposes two methods for position constrained bilateral control. The constraint is given by coordinate transform and additional compensators or command modification methods are not necessary in these methods. The constraint therefore does not destabilize a system and does not nonlinearize it. A difference of the proposed two methods is priority of tasks. The first one ensures slave position limitation and force regulation between two robots. The other one ensures position limitation and position regulation between the robots. Validity of the proposed methods is confirmed by experiments.

本文言語English
ホスト出版物のタイトル2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010
ページ2540-2544
ページ数5
DOI
出版ステータスPublished - 2010 9 17
イベント2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010 - Sapporo, Japan
継続期間: 2010 6 212010 6 24

出版物シリーズ

名前2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010

Other

Other2010 International Power Electronics Conference - ECCE Asia -, IPEC 2010
国/地域Japan
CitySapporo
Period10/6/2110/6/24

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学

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