抄録
In this paper, we propose position/force hybrid control in oblique coordinate. Position and force tasks are transformed by "task Jacobian matrix" and the dynamic properties are given by "task mass matrix". Bilateral control between different degrees-of-freedom systems is implemented, and its validity is experimentally verified.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 300-306+6 |
| ジャーナル | ieej transactions on industry applications |
| 巻 | 130 |
| 号 | 3 |
| DOI | |
| 出版ステータス | Published - 2010 |
| 外部発表 | はい |
ASJC Scopus subject areas
- 産業および生産工学
- 電子工学および電気工学