Position constrained bilateral control by oblique coordinate control considering priority of tasks

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

研究成果: Article

6 引用 (Scopus)

抜粋

This paper proposes two position constrained bilateral controllers. The constraint is given by coordinate transformation and additional compensator or command modification methods are not necessary. The constraint therefore does not destabilize the system and maintains linearity. The difference between the two proposed methods is the task priority. The first ensures slave position limitation and force regulation between two robots, the other ensures position limitation and position regulation between the robots. We analyzed the stability of the proposed controller. The validity of the proposed methods was confirmed experimentally.

元の言語English
ページ(範囲)298-305
ページ数8
ジャーナルIEEJ Journal of Industry Applications
2
発行部数6
DOI
出版物ステータスPublished - 2013

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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