Oblique coordinate control for advanced motion control applied to micro-macro bilateral control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

研究成果: Conference contribution

18 被引用数 (Scopus)

抄録

Abstract-A controller for oblique coordinates is proposed in this paper. In an oblique coordinate, certain vector is expressed by two forms. One is a covariant vector, the other is contravariant vector. Usually, position is described by a contravariant vector, and force is given by a covariant vector. In order to realize hybrid control in a oblique coordinate, position and force should be unified into same vectors. These vectors are synthesized by a metric tensor, and a novel hybrid controller for oblique coordinate is obtained. The dynamic properties are given by "task mass matrix". By this method, whatever tasks given by position and force would be decoupled. Micro-macro bilateral is considered as an example of the oblique coordinate control. It was confirmed by some simulations and an experiment.

本文言語English
ホスト出版物のタイトルIEEE 2009 International Conference on Mechatronics, ICM 2009
DOI
出版ステータスPublished - 2009 7月 17
イベントIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain
継続期間: 2009 4月 142009 4月 17

出版物シリーズ

名前IEEE 2009 International Conference on Mechatronics, ICM 2009

Other

OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
国/地域Spain
CityMalaga
Period09/4/1409/4/17

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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