Kinematics and dynamics of motion control based on acceleration control

The first IEEE International Workshop on Advanced Motion Control 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 an 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 the environment. Acceleration control is the key technology of motion control in an unknown environment. The acceleration control can make a motion system a zero control stiffness system without losing robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. Motion for human assistant will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider for 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.