Kinematics and dynamics of motion control based on acceleration control

Kiyoshi Ohishi, Yuzuru Ohba, Seiichiro Katsura

研究成果: Article査読

7 被引用数 (Scopus)

抄録

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper , reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

本文言語English
ページ(範囲)545-553
ページ数9
ジャーナルieej transactions on industry applications
127
6
DOI
出版ステータスPublished - 2007
外部発表はい

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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